Toward Achieving Formal Guarantees for HumanAware Controllers in HumanRobot Interactions With the primary objective of humanrobot interaction being to support humansxe2x80x99 goals, there exists a need to formally synthesize robot controllers that can provide the desired service. Synthesis techniques have the benefit of providing formal guarantees for specification satisfaction. There is potential to apply these techniques for devising robot controllers whose specifications are coupled with human needs. This paper explores the use of formal methods to construct humanaware robot controllers to support the productivity requirements of humans. We tackle these types of scenarios via human workloadinformed models and reactive synthesis. This strategy allows us to synthesize controllers that fulfill formal specifications that are expressed as linear temporal logic formulas. We present a case study in which we reason about a work delivery and pickup task such that the robot increases worker productivity, but not stress induced by high work backlog. We demonstrate our controller using the Toyota HSR, a mobile manipulator robot. The results demonstrate the realization of a robust robot controller that is guaranteed to properly reason and react in collaborative tasks with human partners.

Specifying and Synthesizing HumanRobot Handovers We present a controller for humanrobot handovers that is automatically synthesized from highlevel specifications in Signal Temporal Logic (STL). In contrast to existing controllers, this approach can provide formal guarantees on the timing of each of the handover phases. Using synthesis also allows endusers to specify and dynamically change the robotxe2x80x99s behaviors using highlevel requirements of goals and constraints rather than by tuning lowlevel controller parameters. We illustrate the proposed approach by replicating the behavior of existing handover strategies from the literature. We also identify specification parameters that are likely to lead to successful handovers using a public database of humanhuman handovers.