Publication

Planning for human-robot collaboration scenarios with heterogeneous costs and durations

Conference Article

Conference

European Conference on Artificial Intelligence (ECAI)

Edition

27th

Pages

4410-4417

Doc link

http://dx.doi.org/10.3233/FAIA241019

File

Download the digital copy of the doc pdf document

Authors

Projects associated

Abstract

This paper looks at human-robot collaboration (HRC) scenarios, in particular where the durations and costs of the actions are heterogeneous between agents, reflecting the agents’ capabilities as well as environmental constraints. We explore the use of temporal PDDL planning as a means of finding over-arching task plans for such collaborative scenarios, and apply suitable heuristics and search algorithms to improve the extent to which plans can be found that are sensitive to combined duration and cost metrics. An evaluation in a kitchen scenario shows our approach is effective, finding cost-effective task plans compared to those from existing planners, and a hand-crafted baseline.

Categories

artificial intelligence, planning (artificial intelligence).

Scientific reference

S. Izquierdo, G. Canal, G. Alenyà, C. Rizzo and A. Coles. Planning for human-robot collaboration scenarios with heterogeneous costs and durations, 27th European Conference on Artificial Intelligence, 2024, Santiago de Compostela (Spain), Vol 392 of Frontiers in Artificial Intelligence and Applications, pp. 4410-4417, IOS Press.