Related papers: CoBOS: Constraint-Based Online Scheduler for Human…
Effective robotic systems for long-horizon human-robot collaboration must adapt to a wide range of human partners, whose physical behavior, willingness to assist, and understanding of the robot's capabilities may change over time. This…
There is invariably a trade-off between safety and efficiency for collaborative robots (cobots) in human-robot collaborations. Robots that interact minimally with humans can work with high speed and accuracy but cannot adapt to new tasks or…
When studying robots collaborating with humans, much of the focus has been on robot policies that coordinate fluently with human teammates in collaborative tasks. However, less emphasis has been placed on the effect of the environment on…
Long-term Human-Robot Collaboration (HRC) is crucial for enabling flexible manufacturing systems and integrating companion robots into daily human environments over extended periods. This paper identifies several key challenges for such…
We present an approach to task scheduling in heterogeneous multi-robot systems. In our setting, the tasks to complete require diverse skills. We assume that each robot is multi-skilled, i.e., each robot offers a subset of the possible…
This paper considers an optimal task allocation problem for human robot collaboration in human robot systems with persistent tasks. Such human robot systems consist of human operators and intelligent robots collaborating with each other to…
In this study we evaluated human-robot collaboration models in an integrated human-robot operational system. An integrated work cell which includes a robotic arm working collaboratively with a human worker was specially designed for…
This paper proposes a task planning framework for collaborative Human-Robot scenarios, specifically focused on assembling complex systems such as furniture. The human is characterized as an uncontrollable agent, implying for example that…
Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capable of generating dynamically stable base and footstep…
Integrating robots into populated environments is a complex challenge that requires an understanding of human social dynamics. In this work, we propose to model social motion forecasting in a shared human-robot representation space, which…
In Human-Robot Collaboration, safety mechanisms such as Speed and Separation Monitoring and Power and Force Limitation dynamically adjust the robot's speed based on human proximity. While essential for risk reduction, these mechanisms…
Online generation of collision free trajectories is of prime importance for autonomous navigation. Dynamic environments, robot motion and sensing uncertainties adds further challenges to collision avoidance systems. This paper presents an…
Objective: The status of human-robot collaboration for assembly applications is reviewed and key current challenges for the research community and practitioners are presented. Background: As the pandemic of COVID-19 started to surface the…
We consider the problem of completing a set of $n$ tasks with a human-robot team using minimum effort. In many domains, teaching a robot to be fully autonomous can be counterproductive if there are finitely many tasks to be done. Rather,…
A number of coordinated behaviors have been proposed for achieving specific tasks for multi-robot systems. However, since most applications require more than one such behavior, one needs to be able to compose together sequences of behaviors…
Humans show specialized strategies for efficient collaboration. Transferring similar strategies to humanoid robots can improve their capability to interact with other agents, leading the way to complex collaborative scenarios with multiple…
Stable dynamical systems are a flexible tool to plan robotic motions in real-time. In the robotic literature, dynamical system motions are typically planned without considering possible limitations in the robot's workspace. This work…
This paper proposes a preliminary work on a Conditional Task and Motion Planning algorithm able to find a plan that minimizes robot efforts while solving assigned tasks. Unlike most of the existing approaches that replan a path only when it…
Computation load-sharing across a network of heterogeneous robots is a promising approach to increase robots capabilities and efficiency as a team in extreme environments. However, in such environments, communication links may be…
Designing an efficient and resilient human-robot collaboration strategy that not only upholds the safety and ergonomics of shared workspace but also enhances the performance and agility of collaborative setup presents significant challenges…