Title: Planning where to achieve a hand-over

Abstract:
In some situations it is necessary or simply preferred to make the robot and the human 
move to achieve a hand-over.

We will consider here the issue of computing where a hand over should take place and consequently plan
for the human and the robot.

Such an ability could be used by a robot to pro-actively propose where to perform a hand over.
The problem can be extended to a sequence of hand-overs to be performed by several agents and robots.