Established in 1967, Laboratoire d’Analyse et d’Architecture des Systemes (LAAS) is a laboratory of CNRS, the French National Organisation for Scientific Research. It is associated with Universite Federale Toulouse Midi-Pyrenees. LAAS has a permanent staff of over 320, together with (on average) 260 doctorate students. Research at LAAS covers Automatic Control, Computer Science and Engineering, and Microelectronics. The Robotics and Artificial Intelligence Department, the largest in France (25 staff, 50 PhD students, and 7 post-docs), is active in research on intelligent and autonomous robotic systems. The team involved in this proposal is composed of members from the Robotics and Interactions group.