Online Scheduling and Reactive Behaviors for Effective Human-Robot-Collaboration

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21730%2F23%3A00370965" target="_blank" >RIV/68407700:21730/23:00370965 - isvavai.cz</a>

Result on the web

<a href="https://openreview.net/pdf?id=F6G3_MP8aB" target="_blank" >https://openreview.net/pdf?id=F6G3_MP8aB</a>

DOI - Digital Object Identifier

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Result language

angličtina

Original language name

Online Scheduling and Reactive Behaviors for Effective Human-Robot-Collaboration

Original language description

Assembly processes involving humans and robots are challenging scenarios because the individual activities and access to shared workspace have to be coordinated. Fixed robot programs leave no room to diverge from a fixed protocol. Working on such a process can be stressful for the user and lead to ineffective behavior or failure. We propose a novel approach of utilizing uncertainty-aware constraint-based scheduling in a reactive execution control framework facilitating behavior trees. This allows the robot to adapt to uncertain events such as delayed activity completions and activity selection (by the human). The user can rest assured that the robot will wait for him to finish his activity and will adapt to best complement the human selected activities to complete the common task. In addition to the improved working conditions, our algorithm also leads to increased efficiency, even in scenarios with high uncertainty. We evaluate our algorithm using a probabilistic simulation study and initial real robot experiments using a Franka Emika Panda robot and human tracking based on HTC Vive VR gloves.

Czech name

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Czech description

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Type

D - Article in proceedings

CEP classification

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OECD FORD branch

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project

<a href="/en/project/EF15_003%2F0000470" target="_blank" >EF15_003/0000470: Robotics 4 Industry 4.0</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Publication year

2023

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection

Robotics: Science and Systems XIX

ISBN

978-0-9923747-9-2

ISSN

2330-765X

e-ISSN

2330-765X

Number of pages

4

Pages from-to

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Publisher name

Daegu Exhibition and Convention Center Daegu

Place of publication

Daegu

Event location

Daegu

Event date

Jul 10, 2023

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

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