Human robot collaborative assembly planning: an answer set programming approach

DOI10.1017/S1471068420000319MaRDI QIDQ5140032zbMATH OpenOpenAlexFDO

Authors Momina Rizwan, Volkan Patoglu, Esra Erdem

Publication date 13 December 2020

Published in Theory and Practice of Logic Programming (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2008.03496

zbMATH Keywords

answer set programmingplanning under uncertaintycognitive roboticshuman-robot interactionassembly planninghybrid reasoningconditional planningrobotic planning

Mathematics Subject Classification ID

Problem solving in the context of artificial intelligence (heuristics, search strategies, etc.) (68T20) Knowledge representation (68T30) Logic programming (68N17) Artificial intelligence for robotics (68T40)

Abstract: For planning an assembly of a product from a given set of parts, robots necessitate certain cognitive skills: high-level planning is needed to decide the order of actuation actions, while geometric reasoning is needed to check the feasibility of these actions. For collaborative assembly tasks with humans, robots require further cognitive capabilities, such as commonsense reasoning, sensing, and communication skills, not only to cope with the uncertainty caused by incomplete knowledge about the humans' behaviors but also to ensure safer collaborations. We propose a novel method for collaborative assembly planning under uncertainty, that utilizes hybrid conditional planning extended with commonsense reasoning and a rich set of communication actions for collaborative tasks. Our method is based on answer set programming. We show the applicability of our approach in a real-world assembly domain, where a bi-manual Baxter robot collaborates with a human teammate to assemble furniture. This manuscript is under consideration for acceptance in TPLP.

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Cites work

• Computational complexity of planning and approximate planning in the presence of incompleteness
• Hybrid conditional planning using answer set programming
• Incremental sampling-based algorithms for a class of pursuit-evasion games

Cited in

(10)

• Towards a domain-specific language for reversible assembly sequences
• scientific article; zbMATH DE number 48542 (Why is no real title available?)
• Efficient interactive decision-making framework for robotic applications
• Hybrid planning for challenging construction problems: an answer set programming approach
• Assembly and disassembly: An overview and framework for cooperation requirement planning with conflict resolution
• Regret-based allocation of autonomy in shared visual detection for human-robot collaborative assembly in manufacturing
• Answer set planning: a survey
• Hybrid conditional planning using answer set programming
• ``Add another blue stack of the same height!: ASP based planning and plan failure analysis
• Integrating ASP into ROS for reasoning in robots

Describes a project that uses

Uses Software

• OMPL

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