%0 Conference Proceedings %T JAHRVIS, a Supervision System for Human-Robot Collaboration %+ Équipe Robotique et InteractionS (LAAS-RIS) %+ Service Informatique : Développement, Exploitation et Assistance (LAAS-IDEA) %A Mayima, Amandine %A Clodic, Aurélie %A Alami, Rachid %< avec comité de lecture %Z Rapport LAAS n° 22194 %B 31st IEEE International Conference on Robot and Human Interactive Communication (RO-MAN 2022) %C Napoli, Italy %8 2022-08-29 %D 2022 %R 10.1109/RO-MAN53752.2022.9900665 %K Human-Robot Interaction HRI %K Supervision %K Execution %K Robot control architecture %Z Computer Science [cs]/Robotics [cs.RO] %Z Computer Science [cs]/Human-Computer Interaction [cs.HC]Conference papers %X The supervision component is the binder of a robotic architecture. Without it, there is no task, no interaction happening, it conducts the other components of the architecture towards the achievement of a goal, which means, in the context of a collaboration with a human, to bring changes in the physical environment and to update the human partner mental state. However, not so much work focus on this component in charge of the robot decision-making and control, whereas this is the robot puppeteer. Most often, either tasks are simply scripted, or the supervisor is built for a specific task. Thus, we propose JAHRVIS, a Joint Action-based Human-aware supeRVISor. It aims at being task-independent while implementing a set of key joint action and collaboration mechanisms. With this contribution, we intend to move the deployment of autonomous collaborative robots forward, accompanying this paper with our open-source code. %G English %2 https://laas.hal.science/hal-03702389/document %2 https://laas.hal.science/hal-03702389/file/ro_man_2022.pdf %L hal-03702389 %U https://laas.hal.science/hal-03702389 %~ UNIV-TLSE2 %~ UNIV-TLSE3 %~ CNRS %~ INSA-TOULOUSE %~ LAAS %~ UT1-CAPITOLE %~ LAAS-RIS %~ LAAS-IDEA %~ LAAS-ROBOTIQUE %~ INSA-GROUPE %~ PNRIA %~ ANR %~ ANITI %~ TOULOUSE-INP %~ UNIV-UT3 %~ UT3-INP %~ UT3-TOULOUSEINP