An Integrated Dynamic Method for Allocating Roles and Planning Tasks for Mixed Human-Robot Teams

• URL: http://arxiv.org/abs/2105.12031v1
• Date: Tue, 25 May 2021 16:10:30 GMT
• Title: An Integrated Dynamic Method for Allocating Roles and Planning Tasks for Mixed Human-Robot Teams
• Authors: Fabio Fusaro (1 and 2), Edoardo Lamon (1), Elena De Momi (2), Arash Ajoudani (1) ((1) Human-Robot Interfaces and physical Interaction, Istituto Italiano di Tecnologia, Genoa, Italy, (2) Department of Electronics, Information and Bioengineering, Politecnico di Milano Politecnico di Milano, Milan, Italy)
• Abstract summary: This paper proposes a novel integrated dynamic method for planning and allocating tasks in mixed human robot teams. The Behavior Tree formulation allows encoding a single job as a compound of different tasks with temporal and logic constraints.
• Score: 0.0
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: This paper proposes a novel integrated dynamic method based on Behavior Trees for planning and allocating tasks in mixed human robot teams, suitable for manufacturing environments. The Behavior Tree formulation allows encoding a single job as a compound of different tasks with temporal and logic constraints. In this way, instead of the well-studied offline centralized optimization problem, the role allocation problem is solved with multiple simplified online optimization sub-problem, without complex and cross-schedule task dependencies. These sub-problems are defined as Mixed-Integer Linear Programs, that, according to the worker-actions related costs and the workers' availability, allocate the yet-to-execute tasks among the available workers. To characterize the behavior of the developed method, we opted to perform different simulation experiments in which the results of the action-worker allocation and computational complexity are evaluated. The obtained results, due to the nature of the algorithm and to the possibility of simulating the agents' behavior, should describe well also how the algorithm performs in real experiments.

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