# Human-Aware Robot Task Planning Based on a Hierarchical Task Model

> Research article (IEEE Robotics and Automation Letters, 2021) · cited 55× · AI/ML

**Wikidata**: [openalex:W3127794374](https://www.wikidata.org/wiki/openalex:W3127794374)  
**Source**: https://4ort.xyz/entity/human-aware-robot-task-planning-based-on-a-hierarchical-task-model