Safe and effective HumAn-Robot coopEration toWards a better cOmpetiveness on cuRrent automation lacK manufacturing processes.

Livrables

Report on Standardization landscape and applicable standards

Report presenting the project related applicable existing standards

Robotic System Specification - design of the Sharework framework

Detailed design of the different Sharework’s modules/components.

White paper Report on best practises for HRC integration into production

public white paper about best practice for integration of HRC in production environments

Life Cycle Assessment and LCA report

report with the results of environmental impact and sustainability in relation to the implementation of Sharework

Report on the contribution to standardization

Report presenting and update list of relevant existing standards and the contribution of the project outcomes to future standardisation initiatives

Key Performance Indicators (KPIs) for assessment -II

updatereview of KPIs that will be used in the final demonstrators

Key Performance Indicators (KPIs) for assessment -I

identify the KPIs that will be used in the demonstrators to quantify the achievement of results.

Public communication materials -II

2nd collection of public materials prepared for communication purposes

Public communication materials -I

1st collection of public materials prepared for communication purposes

Project Public Webpage

launch of the project public webpage for communication and dissemination purposes

Final communication materials

final collection of public materials prepared for communication purposes

Publications

An Action Interface Manager for ROSPlan

Auteurs: Bezrucav, Stefan-Octavian, Canal, Gerard, Cashmore, Michael, & Corves, Burkhard.
Publié dans: The 31st International Conference on Automated Planning and Scheduling (PlanRob),, 2021
Éditeur: The 31st International Conference on Automated Planning and Scheduling (PlanRob),
DOI: 10.5281/zenodo.5348002

A Tool to Model Task Planning Domain for Human-Robot Collaboration

Auteurs: Elisa Foderaro, Amedeo Cesta, Alessandro Umbrico, & Andrea Orlandini.
Publié dans: The International Conference on Automated Planning and Scheduling (ICAPS 2021)., 2021
Éditeur: The International Conference on Automated Planning and Scheduling (ICAPS 2021).
DOI: 10.5281/zenodo.5336827

A ROS-based framework to boost the manipulation tasks programming and execution

Auteurs: Enrico Villagrossi; Nicola Pedrocchi; Marco Faroni; Michele Delledonne; Manuel Beschi
Publié dans: info:cnr-pdr/source/autori:Enrico Villagrossi, Nicola Pedrocchi, Marco Faroni, Michele Delledonne, Manuel Beschi/congresso_nome:Conferenza dell'Istituto di Robotica e Macchine Intelligenti/congresso_luogo:Roma/congresso_data:10%2F10%2F2021/anno:2021/pagina_da:/pagina_a:/intervallo_pagine:, Numéro 1, 2021, ISBN 9788894580
Éditeur: I-RIM Conference
DOI: 10.5281/zenodo.5900570

Case Study: AI Task Planning Setup for an Industrial Scenario with Mobile Manipulators

Auteurs: Bezrucav, Stefan-Octavian; Kaiser, Malte; Corves, Burkhard
Publié dans: Scheduling and Planning Applications woRKshop at the 31st International Conference on Automated Planning and Scheduling (SPARK), 2021
Éditeur: Scheduling and Planning Applications woRKshop at the 31st International Conference on Automated Planning and Scheduling (SPARK)
DOI: 10.5281/zenodo.5272474

Simplifying the A.I. Planning modeling for Human-Robot Collaboration

Auteurs: Elisa Foderaro, Amedeo Cesta, Alessandro Umbrico, & Andrea Orlandini.
Publié dans: 30th IEEE International virtual Conference on Robot & Human Interactive Communication (RO-MAN 2021)., 2021
Éditeur: 30th IEEE International virtual Conference on Robot & Human Interactive Communication (RO-MAN 2021).
DOI: 10.5281/zenodo.5543372

Towards Automatic State Recovery for Replanning

Auteurs: Bezrucav, Stefan-Octavian; Canal, Gerard; Coles, Andrew; Cashmore, Michael; Corves, Burkhard
Publié dans: [Workshop on Integrated Planning, Acting, and Execution, ICAPS 2022, 2022-06-17 - 2022-06-17, online]<br/>Workshop on Integrated Planning, Acting, and Execution, IntEx 2022, online, 2022-06-17 - 2022-06-17<br/>32. International Conference on Automated Planning and Scheduling, ICAPS 2022, online, 2022-06-13 - 2022-06-24, Numéro 3, 2022
Éditeur: ICAPS
DOI: 10.5281/zenodo.6637459

A Layered Control Approach to Human-Aware Task and Motion Planning for Human-Robot Collaboration

Auteurs: Marco Faroni; Manuel Beschi; Stefano Ghidini; Nicola Pedrocchi; Alessandro Umbrico; Andrea Orlandini; Amedeo Cesta
Publié dans: IEE RO-MAN Conference 2020., 2020
Éditeur: IEE Explorer
DOI: 10.1109/ro-man47096.2020.9223483

Non-Contact Safety for Stationary Robots Through Optical Entry Detection With a Co-Moving 3D-Camera

Auteurs: Mandischer, Nils; Weidemann, Carlo; Hüsing, Mathias; Corves, Burkhard
Publié dans: Numéro 1, 2022, ISBN 978-1-6654-5258-8
Éditeur: IEEE
DOI: 10.5281/zenodo.7254308

Modular System Design Approach for Online Ergonomics Assessment in Agile Production Environment

Auteurs: Paul Eichler; Aquib Rashid; Ibrahim Al Nasser; Jayanto Halim; Mohamad Bdiwi
Publié dans: 30th IEEE International virtual Conference on Robot & Human Interactive Communication (RO-MAN 2021)., 2021
Éditeur: 30th IEEE International virtual Conference on Robot & Human Interactive Communication (RO-MAN 2021).
DOI: 10.5281/zenodo.5543436

Towards Automatic State Recovery for Replanning

Auteurs: Bezrucav, Stefan-Octavian; Canal, Gerard; Coles, Andrew; Cashmore, Michael; Corves, Burkhard
Publié dans: International Conference on Automated Planning and Scheduling (IntEx 2022), Numéro 1, 2022
Éditeur: IntEx 2022
DOI: 10.5281/zenodo.6637460

Learning Action Duration and Synergy in Task Planning for Human-Robot Collaboration

Auteurs: Sandrini, Samuele; Faroni, Marco; Pedrocchi, Nicola
Publié dans: IEEE 27th International Conference on Emerging Technologies and Factory Automation (ETFA, Numéro 1, 2022
Éditeur: IEEE
DOI: 10.5281/zenodo.7298424

Design of Human Robot Collaboration workstations – Two automotive case studies

Auteurs: Dionisis Andronas, Angelos Argyrou, Konstantinos Fourtakas, Panagiotis Paraskevopoulos, & Sotiris Makris
Publié dans: 5th International Conference on System-Integrated Intelligence (SYSINT)., 2021
Éditeur: Elsevier
DOI: 10.1016/j.promfg.2020.11.047

ImitationFlow: Learning Deep Stable Stochastic Dynamic Systems by Normalizing Flows

Auteurs: Julen Urain; Michele Ginesi; Davide Tateo; Jan Peters
Publié dans: International Conference on Intelligent Robots and Systems (IROS), Numéro 4, 2020
Éditeur: IEEE
DOI: 10.48550/arxiv.2010.13129

Towards User-Awareness in Human-Robot Collaboration for Future Cyber-Physical Systems

Auteurs: Alessandro Umbrico; Andrea Orlandini; Amedeo Cesta; Spyros Koukas; Andreas Zalonis; Nick Fourtakas; Dionisis Andronas; George Apostolopoulos; Sotiris Makris
Publié dans: 26th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA ), 2021
Éditeur: IEE Explorer
DOI: 10.1109/etfa45728.2021.9613144

Anytime informed path re-planning and optimization for robots in changing environments

Auteurs: Tonola, Cesare; Faroni, Marco; Pedrocchi, Nicola; Beschi, Manuel
Publié dans: IEEE International Conference on Robot and Human Interactive Communication (IEEE ROMAN), Numéro 3, 2021
Éditeur: IEEE
DOI: 10.48550/arxiv.2103.13245

Anytime informed path re-planning and optimization for human-robot collaboration

Auteurs: Tonola, Cesare, ; Faroni, Marco; Pedrocchi, Nicola; Beschi, Manuel
Publié dans: IEEE International Conference on Robot and Human Interactive Communication (IEEE ROMAN), 2021
Éditeur: IEEE International Conference on Robot and Human Interactive Communication (IEEE ROMAN)
DOI: 10.5281/zenodo.5040112

Improved AI planning for cooperating teams of humans and robots

Auteurs: Bezrucav, Stefan-Octavian; Corves, Burkhard
Publié dans: The 30th International Conference on Automated Planning and Scheduling (PlanRob)., 2020
Éditeur: The 30th International Conference on Automated Planning and Scheduling (PlanRob).
DOI: 10.5281/zenodo.4286242

Modular System Design Approach for Online Ergonomics Assessment in Agile Production Environment

Auteurs: Paul Eichler; Aquib Rashid; Ibrahim Al Nasser; Jayanto Halim; Mohamad Bdiwi
Publié dans: 30th IEEE International virtual Conference on Robot & Human Interactive Communication (RO-MAN 2021), Numéro 1, 2021
Éditeur: IEEE
DOI: 10.1109/ro-man50785.2021.9515437

Human-Aware Task and Motion Planning for efficient Human-Robot Collaboration

Auteurs: Marco Faroni; Manuel Beschi; Nicola Pedrocchi; Alessandro Umbrico; Andrea Orlandini; Amedeo Cesta
Publié dans: info:cnr-pdr/source/autori:Marco Faroni, Manuel Beschi, Nicola Pedrocchi, Alessandro Umbrico, Andrea Orlandini, Amedeo Cesta/congresso_nome:Conferenza dell'Istituto di Robotica e Macchine Intelligenti/congresso_luogo:Roma/congresso_data:10-12%2F12%2F2020/anno:2020/pagina_da:/pagina_a:/intervallo_pagine:, Numéro 3, 2020, ISBN 97888945805
Éditeur: I-RIM Conference
DOI: 10.5281/zenodo.4781160

Simplify the robot programming through an action-and-skill manipulation framework

Auteurs: E. Villagrossi; N. Pedrocchi; M. Beschi
Publié dans: 26th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA ), 2021
Éditeur: IEE Explore
DOI: 10.1109/etfa45728.2021.9613168

An Ontology for Human-Robot Collaboration

Auteurs: Alessandro Umbrico; Andrea Orlandini; Amedeo Cesta
Publié dans: 53rd CIRP Conference on Manufacturing Systems (CIRP), 2020
Éditeur: 53rd CIRP Conference on Manufacturing Systems (CIRP)
DOI: 10.1016/j.procir.2020.04.045

A Prototype for the Robust Execution of Flexible Plans

Auteurs: Lanzilli Annarita; Cialdea Mayer Marta; Cesta Amedeo; Orlandini Andrea; Umbrico Alessandro
Publié dans: Proceedings of the 1st Workshop on Artificial Intelligence and Formal Verification, Logics, Automata and Synthesis, 2019
Éditeur: Proceedings of the 1st Workshop on Artificial Intelligence and Formal Verification, Logics, Automata and Synthesis (OVERLAY)
DOI: 10.5281/zenodo.3859886

ROS-TiPlEx: How to make experts in A.I. Planning and Robotics talk together and be happy

Auteurs: Carlo La Viola, Andrea Orlandini, Alessandro Umbrico, Amedeo Cesta
Publié dans: 2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 2019, Page(s) 1-6, ISBN 978-1-7281-2622-7
Éditeur: IEEE
DOI: 10.1109/ro-man46459.2019.8956417

Generalized Multiple Correlation Coefficient as a Similarity Measurement between Trajectories

Auteurs: Urain, J. & Peters, J.
Publié dans: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019
Éditeur: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
DOI: 10.5281/zenodo.3829179

Enhanced Cognition for Adaptive Human-Robot Collaboration

Auteurs: Alessandro Umbrico; Mikel Anasagasti; Stefan-Octavian Bezrucav; Francesca Canale; Amedeo Cesta; Burkhard Corves; Nils Mandischer; Mikel Mondragon; Cristina Naso; Andrea Orlandini
Publié dans: Numéro 1, 2022, ISBN 978-1-6654-9996-5
Éditeur: IEE
DOI: 10.5281/zenodo.7319800

Real-time trajectory scaling algorithms for enhanced path following of robot manipulators

Auteurs: Faroni, Marco; Beschi, Manuel; Pedrocchi, Nicola
Publié dans: info:cnr-pdr/source/autori:Marco Faroni, Manuel Beschi, Nicola Pedrocchi/congresso_nome:Conferenza dell'Istituto di Robotica e Macchine Intelligenti/congresso_luogo:Roma/congresso_data:10%2F10%2F2021/anno:2021/pagina_da:/pagina_a:/intervallo_pagine:, Numéro 3, 2020, ISBN 978-1-7281-5715-3
Éditeur: IEEE
DOI: 10.5281/zenodo.6367917

Open-Box Target for Extrinsic Calibration of LiDAR, Camera and Industrial Robot

Auteurs: Aquib Rashd; Wolfram Hardt; Alexey Kolker; Mohamad Bdiwi; Matthias Putz
Publié dans: 2020 3rd International Conference on Mechatronics, Robotics and Automation (ICMRA), Numéro 1, 2020, ISBN 978-1-7281-9032-7
Éditeur: IEEE
DOI: 10.5281/zenodo.7298289

Optimal task and motion planning for human-robot collaboration

Auteurs: Marco Faroni; Manule Beschi; Nicola Pedrocchi
Publié dans: Convegno nazionale SIDRA Automatica.it 2021, Catania, 02/09/2021, Numéro 1, 2021
Éditeur: SIDRA Automatica

A Language for Timeline-based Planning

Auteurs: Giulio Bernardi; Amedeo Cesta; Andrea Orlandini; Alessandro Umbrico; Marta Cialdea Mayer
Publié dans: 2nd Workshop on Artificial Intelligence and Formal Verification, Logics, Automata and Synthesis (OVERLAY) (OVERLAY), September 25, 2020, 2020
Éditeur: 2nd Workshop on Artificial Intelligence and Formal Verification, Logics, Automata and Synthesis (OVERLAY) (OVERLAY), September 25, 2020
DOI: 10.5281/zenodo.4835662

Composable Energy Policies for Reactive Motion Generation and Reinforcement Learning

Auteurs: Julen Urain, Anqi Li, Puze Liu, Carlo D'Eramo, & Jan Peters.
Publié dans: Robotics Science and Systems Conference., 2021
Éditeur: Robotics Science and Systems Conference.
DOI: 10.5281/zenodo.5336918

Multi-modal interfaces for natural Human-Robot Interaction

Auteurs: Dionisis Andronas; Sotiris Makris; George Apostolopoulos; Nikos Fourtakas
Publié dans: 10th International Conference on Digital Enterprise Technology (CIRP DET)., 2020
Éditeur: Elsevier
DOI: 10.1016/j.promfg.2021.07.030

Anytime informed path re- planning and optimization for human-robot collaboratio

Auteurs: Cesare Tonola; Marco Faroni; Nicola Pedrocchi; Manuel Beschi
Publié dans: Conferenza dell'Istituto di Robotica e Macchine Intelligent, Roma, 10/10/2021, Numéro 1, 2021, ISBN 978-1-6654-0492-1
Éditeur: IEEE

Structured Policy Representation. Stability in arbitrarily conditioned dynamic systems

Auteurs: Urain, Julen; Tateo, Davide; Tianyu Ren; Peters, Jan
Publié dans: Neural Information Processing Systems (NEurIPS), Numéro 1, 2020
Éditeur: Neural Information Processing Systems (NEurIPS)
DOI: 10.5281/zenodo.4817882

Modelling Automated Planning Problems for Teams of Mobile Manipulators in a Generic Industrial Scenario

Auteurs: Stefan-Octavian Bezrucav; Burkhard Corves
Publié dans: Special Numéro Industrial Robotics: Design and Applications, Numéro 1, 2022, ISSN 2076-3417
Éditeur: MDPI
DOI: 10.5281/zenodo.6539729

Modelling Automated Planning Problems for Teams of Mobile Manipulators in a Generic Industrial Scenario

Auteurs: Stefan-Octavian Bezrucav; Burkhard Corves
Publié dans: Applied Sciences; Volume 12; Numéro 5; Pages: 2319, Numéro 1, 2022, ISSN 2076-3417
Éditeur: MDPI
DOI: 10.18154/rwth-2022-03040

Improved Tracking and Docking of Industrial Mobile Robots Through UKF Vision-Based Kinematics Calibration

Auteurs: Stefano Mutti; Nicola Pedrocchi
Publié dans: IEEE Access, Vol 9, Pp 127664-127671 (2021), Numéro 1, 2021, ISSN 2169-3536
Éditeur: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2021.3111004

A real-time trajectory planning method for enhanced path-tracking performance of serial manipulators

Auteurs: Marco Faroni; Manuel Beschi; Antonio Visioli; Nicola Pedrocchi
Publié dans: Mechanism and Machine Theory, Numéro 4, 2021, Page(s) 2021, ISSN 0094-114X
Éditeur: Pergamon Press Ltd.
DOI: 10.1016/j.mechmachtheory.2020.104152

On timeline-based games and their complexity

Auteurs: Nicola Gigante, Angelo Montanari, Andrea Orlandini, Marta Cialdea Mayer, Mark Reynolds
Publié dans: Theoretical Computer Science, Numéro 815, 2020, Page(s) 247-269, ISSN 0304-3975
Éditeur: Elsevier BV
DOI: 10.1016/j.tcs.2020.02.011

Toward intelligent continuous assistance

Auteurs: Alessandro Umbrico, Gabriella Cortellessa, Andrea Orlandini, Amedeo Cesta
Publié dans: Journal of Ambient Intelligence and Humanized Computing, 2020, ISSN 1868-5137
Éditeur: Springer Verlag
DOI: 10.1007/s12652-020-01766-w

Design of Advanced Human–Robot Collaborative Cells for Personalized Human–Robot Collaborations

Auteurs: Umbrico; Alessandro; Orlandini; Andrea; Cesta; Amedeo; Faroni; Marco; Beschi; Manuel; Pedrocchi; Nicola; Scala; Andrea; Tavormina; Piervincenzo; Koukas; Spyros; Zalonis; Andreas; Fourtakas; Nikos; Kotsaris; Panagiotis Stylianos; Andronas; Dionisis; Makris; Sotiris
Publié dans: info:cnr-pdr/source/autori:Umbrico, Alessandro and Orlandini, Andrea and Cesta, Amedeo and Faroni, Marco and Beschi, Manuel and Pedrocchi, Nicola and Scala, Andrea and Tavormina, Piervincenzo and Koukas, Spyros and Zalonis, Andreas and Fourtakas, Nikos and Kotsaris, Panagiotis Stylianos and Andronas, Dionisis and Makris, Sotiris/titolo:Design of Advanced Human–Robot Collaborative Cells for P, Numéro 1, 2022, ISSN 2076-3417
Éditeur: MDPI
DOI: 10.3390/app12146839

Efficient and Consumer-Centered Item Detection and Classification with a Multicamera Network at High Ranges

Auteurs: Nils Mandischer , Tobias Huhn , Mathias Hüsing , Burkhard Corves
Publié dans: Sensors, Numéro Volume 21, Numéro 14, 2021, ISSN 2114-4818
Éditeur: MDPI
DOI: 10.3390/s21144818

Design of Timeline-Based Planning Systems for Safe Human-Robot Collaboration

Auteurs: Andrea Orlandini, Marta Cialdea Mayer, Alessandro Umbrico, Amedeo Cesta
Publié dans: Knowledge Engineering Tools and Techniques for AI Planning, 2020, Page(s) 231-248, ISBN 978-3-030-38560-6
Éditeur: Springer International Publishing
DOI: 10.1007/978-3-030-38561-3_12

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