Related papers: An Optimal Task Planning and Agent-aware Allocatio…
Robots need task planning algorithms to sequence actions toward accomplishing goals that are impossible through individual actions. Off-the-shelf task planners can be used by intelligent robotics practitioners to solve a variety of planning…
This paper addresses the challenge of enabling a single robot to effectively assist multiple humans in decision-making for task planning domains. We introduce a comprehensive framework designed to enhance overall team performance by…
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…
To enable robots to achieve high level objectives, engineers typically write scripts that apply existing specialized skills, such as navigation, object detection and manipulation to achieve these goals. Writing good scripts is challenging…
Efficient coordination and planning is essential for large-scale multi-agent systems that collaborate in a shared dynamic environment. Heuristic search methods or learning-based approaches often lack the guarantee on correctness and…
Efficient robotic extraterrestrial exploration requires robots with diverse capabilities, ranging from scientific measurement tools to advanced locomotion. A robotic team enables the distribution of tasks over multiple specialized…
Enabling robot teams to execute natural language commands requires translating high-level instructions into feasible, efficient multi-robot plans. While Large Language Models (LLMs) combined with Planning Domain Description Language (PDDL)…
The requirements of modern production systems together with more advanced robotic technologies have fostered the integration of teams comprising humans and autonomous robots. However, along with the potential benefits also comes the…
Despite cobots have high potential in bringing several benefits in the manufacturing and logistic processes, but their rapid (re-)deployment in changing environments is still limited. To enable fast adaptation to new product demands and to…
The Industry 4.0 paradigm promises shorter development times, increased ergonomy, higher flexibility, and resource efficiency in manufacturing environments. Collaborative robots are an important tangible technology for implementing such a…
Multi-robot task planning requires decomposing natural-language instructions into executable actions for heterogeneous robot teams. Conventional Planning Domain Definition Language (PDDL) planners provide rigorous guarantees but struggle to…
In collaborative robotic cells, a human operator and a robot share the workspace in order to execute a common job, consisting of a set of tasks. A proper allocation and scheduling of the tasks for the human and for the robot is crucial for…
Adaptive task planning is fundamental to ensuring effective and seamless human-robot collaboration. This paper introduces a robot task planning framework that takes into account both human leading/following preferences and performance,…
We consider a multi-robot system with a team of collaborative robots and multiple tasks that emerges over time. We propose a fully decentralized task and path planning (DTPP) framework consisting of a task allocation module and a localized…
Task planning, the problem of sequencing actions to reach a goal from an initial state, is a core capability requirement for autonomous robotic systems. Whether large language models (LLMs) can serve as viable planners alongside classical…
The inherent probabilistic nature of Large Language Models (LLMs) introduces an element of unpredictability, raising concerns about potential discrepancies in their output. This paper introduces an innovative approach aims to generate…
The growing deployment of human-robot collaborative processes in several industrial applications, such as handling, welding, and assembly, unfolds the pursuit of systems which are able to manage large heterogeneous teams and, at the same…
In large-scale systems there are fundamental challenges when centralised techniques are used for task allocation. The number of interactions is limited by resource constraints such as on computation, storage, and network communication. We…
We focus on the problem of designing an artificial agent (AI), capable of assisting a human user to complete a task. Our goal is to guide human users towards optimal task performance while keeping their cognitive load as low as possible.…
Robots need task planning to sequence and execute actions toward achieving their goals. On the other hand, Behavior Trees provide a mathematical model for specifying plan execution in an intrinsically composable, reactive, and robust way.…