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

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Presented at IEE RO-MAN Conference 2020 Marco Faroni; Stefano Ghidini; Nicola Pedrocchi (Italian National Research Council); Manuel Beschi (Università degli Studi di Brescia); Alessandro Umbrico; Andrea Orlandini; Amedeo Cesta (CNR – Institute of Cognitive Science and Technology (July 2020) Abstract Combining task and motion planning efficiently in human-robot collaboration (HRC) entails several challenges because of the uncertainty…

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An Ontology for Human-Robot Collaboration

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Presented at 53rd CIRP Conference on Manufacturing Systems (CIRP) Alessandro Umbrico; Andrea Orlandini; Amedeo Cesta (CNR – Institute of Cognitive Science and Technology (May 2021) Abstract The diffusion of Human-Robot Collaborative cells is prevented by some barriers. Classical control approaches seem not yet fully suitable for facing variability conveyed by the presence of human operators…

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Generalized Multiple Correlation Coefficient as a Similarity Measurements between Trajectories

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Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) ​ Julen Urain and Jan Peters (TU Darmstadt), 2019 Abstract A similarity distance measure between two trajectories is an essential tool to understand patterns in motion, for example, in Human-Robot Interaction or Imitation Learning. The problem has been faced in many fields, from Signal Processing,…

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

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In: Vallati M., Kitchin D. (eds) Knowledge Engineering Tools and Techniques for AI Planning. ​Springer, Nature Andrea Orlandini; Amedeo Cesta and Alessandro Umbrico (Institute of Cognitive Science and Technology,CNR – National Research Council of Italy); Marta Cialdea Mayer (University of “Roma TRE”) – March 2020 Abstract During the last decade, industrial collaborative robots have entered assembly cells supporting human workers…

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

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Abstract presented at RO-MAN 2019  Viola, C., Orlandini, A., Umbrico, A. & Cesta, A. (2019). Abstract This paper presents a novel comprehensive framework called ROS-TiPlEx (Timeline-based Planning and Execution with ROS) to provide a shared environment in which experts in robotics and planning can easily interact to, respectively, encode information about low-level robot control and define task planning and…

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On timeline-based games and their complexity

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Theoretical Computer Science. 815 Nicola Gigante; Angelo Montanari (University of Udine), Andrea Orlandini (CNR-ISTC),Marta Cialdea Mayer (University of Roma Tre), Mark Reynolds (The University of Western Australia) (2020) Abstract In timeline-based planning, domains are described as sets of independent, but interacting, components, whose behaviour over time (the set of timelines) is governed by a set of temporal constraints.…

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A Prototype for the Robust Execution of Flexible Plans

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Proceedings of the 1st Workshop on Artificial Intelligence and Formal Verification, Logics, Automata and Synthesis, Rende, Italy, November 19–20, 2019. Lanzilli Annarita; Cialdea Mayer Marta (ROMA TRE University, Rome, Italy); Cesta Amedeo; Orlandini Andrea; Umbrico Alessandro (ISTC-CNR, Rome, Italy) Abstract Timeline-based Planning and Scheduling (P&S) usually deals with two main sources of uncertainty: some components may depend on an external environment and…

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Toward intelligent continuous assistance

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Journal of Ambient Intelligence and Humanized Computing Umbrico Alessandro; Cortellessa Gabriella; Orlandini Andrea; Cesta Amedeo (CNR- ISTC) Abstract Technology supported assistance is a research area dedicated to support both older adults and, at some level, their caregivers in a variety of situations and contexts. A number of projects doing detailed evaluation both with robots and/or ICT-based intelligent devices…