Le sujet de recherche est dans la continuité des travaux réalisés au cours de mon M2R sur la programmation par démonstration appliqué à la cobotique en milieu industriel. Ce sujet est à la croisée de plusieurs domaines (interaction Humain-Robot, planification automatique, apprentissage artificiel). Il s'agit maintenant d'aller au delà de ces premiers résultats obtenus au cours de mon M2R et de trouver un cadre générique pour la programmation de « cobots » (robots collaboratifs) en milieu industriel. L'approche cobotique consiste à ce qu'un opérateur humain, en tant qu'expert métier directement impliqué dans la réalisation des tâches en ligne, apprenne au robot à effectuer de nouvelles tâches et à utiliser le robot comme assistant « agile ». Dans ce contexte la thèse propose un mode d'apprentissage de type « end-user programming », c'est-à-dire simple et ne nécessitant pas d'être expert en robotique pour programmer le robot industriel Baxter. / The increasing presence of robots in industries has not gone unnoticed.Cobots (collaborative robots) are revolutionising industries by allowing robots to work in close collaboration with humans.Large industrial players have incorporated them into their production lines, but smaller companies hesitate due to high initial costs and the lack of programming expertise.In this thesis we introduce a framework that combines two disciplines, Programming by Demonstration and Automated Planning, to allow users without programming knowledge to program a robot.The user constructs the robot's knowledge base by teaching it new actions by demonstration, and associates their semantic meaning to enable the robot to reason about them.The robot adopts a goal-oriented behaviour by using automated planning techniques, where users teach action models expressed in a symbolic planning language.In this thesis we present preliminary work on user experiments using a Baxter Research Robot to evaluate our approach.We conducted qualitative user experiments to evaluate the user's understanding of the symbolic planning language and the usability of the framework's programming process.We showed that users with little to no programming experience can adopt the symbolic planning language, and use the framework.We further present our work on a Programming by Demonstration system used for organisation tasks.The system includes a goal inference model to accelerate the programming process by predicting the user's intended product configuration.

Organisationer har under de senaste åren börjat bestå av både människor och robotar i sina arbetsgrupper. Det som möjliggjort samarbetet mellan användare och robot är Robotic Process Automation (RPA) som kan beskrivas som en digital medarbetare. RPA syftar till att ersätta användarens monotona arbetsuppgifter, användaren kan då fokusera på mer avancerade och värdeskapande uppgifter som kräver kognitivt tänkande. Tidigare forskning visar på att användare upplever förändringen vid implementation av RPA i organisationen olika och kan uppfattas som ett hot eller en möjlighet. Syftet med studien är att undersöka hur användare upplever förändringen och samspelet som sker med RPA i en organisation och ge insikter på hur samspelet kan förbättras. Studien genomfördes genom en kvalitativ ansats med semi-strukturerade intervjuer för att undersöka användarnas egna ord om upplevelsen till samspelet med RPA. Studiens slutsats är att användare upplever samspelet med RPA olika beroende på hur informerade dem är angående robotens syfte och mål, men i studien har det framkommit nedslag som kan förhindra de negativa upplevelser som kan uppstå vid samspel med RPA. / In recent years, organizations have begun to consist of both humans and robots in their work groups. What has enabled the interplay between humans and robots is Robotic Process Automation (RPA), which can be described as a digital employee. RPA aims to replace the monotonous tasks so that humans can focus on more advanced and value-creating tasks that require cognitive thinking. Previous research shows that users experience changes when implementing RPA in the organization differently and can be perceived as a threat or an opportunity. The purpose of the study is to investigate how users experience the change and interaction that occurs with RPA in an organization and provide insights into how the interplay can be improved. The study was conducted through a qualitative approach with semi-structured interviews to examine the users' own words about the experience to the interplay with RPA. The study's conclusion is that users experience the interplay with RPA differently depending on how informed they are regarding the robot's purpose and goals, but the study has revealed impacts that can prevent the negative experiences that can occur when interacting with RPA.