With the primary objective of human-robot interaction being to support humans' goals, there exists a need to formally synthesize robot controllers that can indeed 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 work explores the use of formal methods to construct hu
When performing visual servoing or object tracking tasks with a mobile manipulator, active sensor planning is essential to keep targets in sight or to relocate them when missing or occluded from other objects. In particular, when dealing with a known target missing from the sensor's field of view, we propose using prior knowledge related to contextual information to estimate its possible location. We implement and demonstrate these capabilities on a mobile robot in real-time.