A Task Allocation Framework for Human Multi-Robot Collaborative Settings

被引：9

作者：

Lippi, Martina ^{[1
]}

Di Lillo, Paolo ^{[2
]}

Marino, Alessandro ^{[2
]}

机构：

[1] Roma Tre Univ, Rome, Italy

[2] Univ Cassino & Southern Lazio, Cassino, Italy

来源：

2023 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2023) | 2023年

基金：

欧盟地平线“2020”;

关键词：

D O I：

10.1109/ICRA48891.2023.10161458

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The requirements of modern production systems together with more advanced robotic technologies have fostered the integration of teams comprising humans and autonomous robots. While this integration has the potential to provide various benefits, it also raises questions about how to effectively manage these teams, taking into account the different characteristics of the agents involved. This paper presents a framework for task allocation in a human multi-robot collaborative scenario. The proposed solution combines an optimal offline allocation with an online reallocation strategy which accounts for inaccuracies of the offline plan and/or unforeseen events, human subjective preferences and cost of task switching. Experiments with two manipulators cooperating with a human operator in a box filling task are presented.

引用

页码：7614 / 7620

页数：7

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