CoBOS: Constraint-Based Online Scheduler for Human-Robot Collaboration

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

CoBOS: Constraint-Based Online Scheduler for Human-Robot Collaboration

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

CoBOS: Constraint-Based Online Scheduler for Human-Robot Collaboration

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

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

Projekt

<a href="/cs/project/EH22_008%2F0004590" target="_blank" >EH22_008/0004590: Robotika a pokročilá průmyslová výroba</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2024

Kód důvěrnosti údajů

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

Název statě ve sborníku

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

Počet stran výsledku

7

Strana od-do

7131-7137

Název nakladatele

IEEE

Místo vydání

Piscataway

Místo konání akce

Abu Dhabi

Datum konání akce

14. 10. 2024

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

001411890000669