CoBOS: Constraint-Based Online Scheduler for Human-Robot Collaboration
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21730%2F24%3A00376308" target="_blank" >RIV/68407700:21730/24:00376308 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/IROS58592.2024.10801885" target="_blank" >https://doi.org/10.1109/IROS58592.2024.10801885</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/IROS58592.2024.10801885" target="_blank" >10.1109/IROS58592.2024.10801885</a>
Alternative languages
Result language
angličtina
Original language name
CoBOS: Constraint-Based Online Scheduler for 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 online constraint-based scheduling in a reactive execution control framework facilitating behavior trees called CoBOS. This allows the robot to adapt to uncertain events such as delayed activity completions and activity selection (by the human). The user will experience less stress as the robotic coworkers adapt their behavior to best complement the human selected activities to complete the common task. In addition to the improved working conditions, our algorithm leads to increased efficiency, even in highly uncertain scenarios. We evaluate our algorithm using a probabilistic simulation study with 56000 experiments. We outperform all baselines by a margin of 4-10%. Initial real robot experiments using a Franka Emika Panda robot and human tracking based on HTC Vive VR gloves look promising.
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
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Result continuities
Project
<a href="/en/project/EH22_008%2F0004590" target="_blank" >EH22_008/0004590: Robotics and advanced industrial production</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2024
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024)
ISBN
979-8-3503-7770-5
ISSN
2153-0858
e-ISSN
2153-0866
Number of pages
7
Pages from-to
7131-7137
Publisher name
IEEE
Place of publication
Piscataway
Event location
Abu Dhabi
Event date
Oct 14, 2024
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
001411890000669