A Hierarchical Human-Robot Interaction-Planning Framework for Task Allocation in Collaborative Industrial Assembly Processes

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dc.identifier.uri http://dx.doi.org/10.15488/3178
dc.identifier.uri http://www.repo.uni-hannover.de/handle/123456789/3208
dc.contributor.author Johannsmeier, Lars ger
dc.contributor.author Haddadin, Sami ger
dc.date.accessioned 2018-04-25T07:52:03Z
dc.date.available 2018-04-25T07:52:03Z
dc.date.issued 2016-02-29
dc.identifier.citation Johannsmeier, L. & Haddadin, S.: A hierarchical human-robot interaction-planning framework for task allocation in collaborative industrial assembly processes. In: IEEE Robotics and Automation Letters 2 (2017), Nr. 1, S. 41-48. DOI: https://doi.org/10.1109/LRA.2016.2535907 ger
dc.description.abstract In this paper we propose a framework for task allocation in human-robot collaborative assembly planning. Our framework distinguishes between two main layers of abstraction and allocation. In the higher layer we use an abstract world model, incorporating a multi-agent human-robot team approach in order to describe the collaborative assembly planning problem. From this, nominal coordinated skill sequences for every agent are produced. In order to be able to treat humans and robots as agents of the same form, we move relevant differences/peculiarities into distinct cost functions. The layer beneath handles the concrete skill execution. On atomic level, skills are composed of complex hierarchical and concurrent hybrid state machines, which in turn coordinate the real-time behavior of the robot. Their careful design allows to cope with unpredictable events also on decisional level without having to explicitly plan for them, instead one may rely also on manually designed skills. Such events are likely to happen in dynamic and potentially partially known environments, which is especially true in case of human presence. © 2017 IEEE ger
dc.description.sponsorship EU/H2020/688857/EU ger
dc.language.iso eng ger
dc.publisher Piscataway, NJ : Institute of Electrical and Electronics Engineers Inc.
dc.relation info:eu-repo/grantAgreement/EU/H2020/688857/EU ger
dc.relation.ispartofseries IEEE Robotics and Automation Letters 2 (2017), Nr. 1 ger
dc.rights Es gilt deutsches Urheberrecht. Das Dokument darf zum eigenen Gebrauch kostenfrei genutzt, aber nicht im Internet bereitgestellt oder an Außenstehende weitergegeben werden. ger
dc.subject Physical Human-Robot Interaction eng
dc.subject Assembly eng
dc.subject Co-Worker eng
dc.subject Optimal Planning eng
dc.subject Mensch-Roboter Kollaboration ger
dc.subject.ddc 004 | Informatik ger
dc.subject.ddc 621,3 | Elektrotechnik, Elektronik ger
dc.title A Hierarchical Human-Robot Interaction-Planning Framework for Task Allocation in Collaborative Industrial Assembly Processes ger
dc.type article ger
dc.type Text ger
dc.relation.issn 2377-3766
dc.relation.doi 10.1109/LRA.2016.2535907
dc.description.version acceptedVersion ger
tib.accessRights frei zug�nglich ger


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