Abstract
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 achieving an efficient human-robot collaboration. In order to deal with the dynamic and unpredictable behavior of the human and for allowing the human and the robot to negotiate about the tasks to be executed, a two layers architecture for solving the task allocation and scheduling problem is proposed. The first layer optimally solves the task allocation problem considering nominal execution times. The second layer, which is reactive, adapts online the sequence of tasks to be executed by the robot considering deviations from the nominal behaviors and requests coming from the human and from robot. The proposed architecture is experimentally validated on a collaborative assembly job.
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Notes
- 1.
The choice of the specific technique for splitting a job into several tasks is out of the scope of this paper. Several strategies are available in the literature (see, e.g., [19] for assembly tasks.).
- 2.
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Acknowledgement
This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement No. 818087 (ROSSINI).
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Pupa, A., Landi, C.T., Bertolani, M., Secchi, C. (2021). A Dynamic Architecture for Task Assignment and Scheduling for Collaborative Robotic Cells. In: Saveriano, M., Renaudo, E., RodrÃguez-Sánchez, A., Piater, J. (eds) Human-Friendly Robotics 2020. HFR 2020. Springer Proceedings in Advanced Robotics, vol 18. Springer, Cham. https://doi.org/10.1007/978-3-030-71356-0_6
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