A Signal Temporal Logic Planner for Ergonomic Human-Robot Collaboration
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F23%3A00367257" target="_blank" >RIV/68407700:21230/23:00367257 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/ICUAS57906.2023.10156559" target="_blank" >https://doi.org/10.1109/ICUAS57906.2023.10156559</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ICUAS57906.2023.10156559" target="_blank" >10.1109/ICUAS57906.2023.10156559</a>
Alternative languages
Result language
angličtina
Original language name
A Signal Temporal Logic Planner for Ergonomic Human-Robot Collaboration
Original language description
This paper proposes a method for designing human-robot collaboration tasks and generating corresponding trajectories. The method uses high-level specifications, expressed as a Signal Temporal Logic (STL) formula, to automatically synthesize task assignments and trajectories. To illustrate the approach, we focus on a specific task: a multi-rotor aerial vehicle performing object handovers in a power line setting. The motion planner considers limitations, such as payload capacity and recharging constraints, while ensuring that the trajectories are feasible. Additionally, the method enables users to specify robot behaviors that take into account human comfort (e.g., ergonomics, preferences) while using high-level goals and constraints. The approach is validated through numerical analyzes in MATLAB and realistic Gazebo simulations using a mock-up scenario.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
20204 - Robotics and automatic control
Result continuities
Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2023
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
2023 International Conference on Unmanned Aircraft Systems (ICUAS)
ISBN
979-8-3503-1037-5
ISSN
2373-6720
e-ISSN
2575-7296
Number of pages
8
Pages from-to
328-335
Publisher name
IEEE Industrial Electronics Society
Place of publication
Paříž
Event location
Warsaw
Event date
Jun 6, 2023
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
001032475700044