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

Deliverables

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

Author(s): Bezrucav, Stefan-Octavian, Canal, Gerard, Cashmore, Michael, & Corves, Burkhard.
Published in: The 31st International Conference on Automated Planning and Scheduling (PlanRob),, 2021
Publisher: 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

Author(s): Elisa Foderaro, Amedeo Cesta, Alessandro Umbrico, & Andrea Orlandini.
Published in: The International Conference on Automated Planning and Scheduling (ICAPS 2021)., 2021
Publisher: 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

Author(s): Enrico Villagrossi; Nicola Pedrocchi; Marco Faroni; Michele Delledonne; Manuel Beschi
Published in: 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:, Issue 1, 2021, ISBN 9788894580
Publisher: I-RIM Conference
DOI: 10.5281/zenodo.5900570

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

Author(s): Bezrucav, Stefan-Octavian; Kaiser, Malte; Corves, Burkhard
Published in: Scheduling and Planning Applications woRKshop at the 31st International Conference on Automated Planning and Scheduling (SPARK), 2021
Publisher: 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

Author(s): Elisa Foderaro, Amedeo Cesta, Alessandro Umbrico, & Andrea Orlandini.
Published in: 30th IEEE International virtual Conference on Robot & Human Interactive Communication (RO-MAN 2021)., 2021
Publisher: 30th IEEE International virtual Conference on Robot & Human Interactive Communication (RO-MAN 2021).
DOI: 10.5281/zenodo.5543372

Towards Automatic State Recovery for Replanning

Author(s): Bezrucav, Stefan-Octavian; Canal, Gerard; Coles, Andrew; Cashmore, Michael; Corves, Burkhard
Published in: [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, Issue 3, 2022
Publisher: ICAPS
DOI: 10.5281/zenodo.6637459

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

Author(s): Marco Faroni; Manuel Beschi; Stefano Ghidini; Nicola Pedrocchi; Alessandro Umbrico; Andrea Orlandini; Amedeo Cesta
Published in: IEE RO-MAN Conference 2020., 2020
Publisher: 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

Author(s): Mandischer, Nils; Weidemann, Carlo; Hüsing, Mathias; Corves, Burkhard
Published in: Issue 1, 2022, ISBN 978-1-6654-5258-8
Publisher: IEEE
DOI: 10.5281/zenodo.7254308

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

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

Towards Automatic State Recovery for Replanning

Author(s): Bezrucav, Stefan-Octavian; Canal, Gerard; Coles, Andrew; Cashmore, Michael; Corves, Burkhard
Published in: International Conference on Automated Planning and Scheduling (IntEx 2022), Issue 1, 2022
Publisher: IntEx 2022
DOI: 10.5281/zenodo.6637460

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

Author(s): Sandrini, Samuele; Faroni, Marco; Pedrocchi, Nicola
Published in: IEEE 27th International Conference on Emerging Technologies and Factory Automation (ETFA, Issue 1, 2022
Publisher: IEEE
DOI: 10.5281/zenodo.7298424

Design of Human Robot Collaboration workstations – Two automotive case studies

Author(s): Dionisis Andronas, Angelos Argyrou, Konstantinos Fourtakas, Panagiotis Paraskevopoulos, & Sotiris Makris
Published in: 5th International Conference on System-Integrated Intelligence (SYSINT)., 2021
Publisher: Elsevier
DOI: 10.1016/j.promfg.2020.11.047

ImitationFlow: Learning Deep Stable Stochastic Dynamic Systems by Normalizing Flows

Author(s): Julen Urain; Michele Ginesi; Davide Tateo; Jan Peters
Published in: International Conference on Intelligent Robots and Systems (IROS), Issue 4, 2020
Publisher: IEEE
DOI: 10.48550/arxiv.2010.13129

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

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

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

Author(s): Tonola, Cesare; Faroni, Marco; Pedrocchi, Nicola; Beschi, Manuel
Published in: IEEE International Conference on Robot and Human Interactive Communication (IEEE ROMAN), Issue 3, 2021
Publisher: IEEE
DOI: 10.48550/arxiv.2103.13245

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

Author(s): Tonola, Cesare, ; Faroni, Marco; Pedrocchi, Nicola; Beschi, Manuel
Published in: IEEE International Conference on Robot and Human Interactive Communication (IEEE ROMAN), 2021
Publisher: 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

Author(s): Bezrucav, Stefan-Octavian; Corves, Burkhard
Published in: The 30th International Conference on Automated Planning and Scheduling (PlanRob)., 2020
Publisher: 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

Author(s): Paul Eichler; Aquib Rashid; Ibrahim Al Nasser; Jayanto Halim; Mohamad Bdiwi
Published in: 30th IEEE International virtual Conference on Robot & Human Interactive Communication (RO-MAN 2021), Issue 1, 2021
Publisher: IEEE
DOI: 10.1109/ro-man50785.2021.9515437

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

Author(s): Marco Faroni; Manuel Beschi; Nicola Pedrocchi; Alessandro Umbrico; Andrea Orlandini; Amedeo Cesta
Published in: 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:, Issue 3, 2020, ISBN 97888945805
Publisher: I-RIM Conference
DOI: 10.5281/zenodo.4781160

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

Author(s): E. Villagrossi; N. Pedrocchi; M. Beschi
Published in: 26th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA ), 2021
Publisher: IEE Explore
DOI: 10.1109/etfa45728.2021.9613168

An Ontology for Human-Robot Collaboration

Author(s): Alessandro Umbrico; Andrea Orlandini; Amedeo Cesta
Published in: 53rd CIRP Conference on Manufacturing Systems (CIRP), 2020
Publisher: 53rd CIRP Conference on Manufacturing Systems (CIRP)
DOI: 10.1016/j.procir.2020.04.045

A Prototype for the Robust Execution of Flexible Plans

Author(s): Lanzilli Annarita; Cialdea Mayer Marta; Cesta Amedeo; Orlandini Andrea; Umbrico Alessandro
Published in: Proceedings of the 1st Workshop on Artificial Intelligence and Formal Verification, Logics, Automata and Synthesis, 2019
Publisher: 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

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

Generalized Multiple Correlation Coefficient as a Similarity Measurement between Trajectories

Author(s): Urain, J. & Peters, J.
Published in: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019
Publisher: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
DOI: 10.5281/zenodo.3829179

Enhanced Cognition for Adaptive Human-Robot Collaboration

Author(s): Alessandro Umbrico; Mikel Anasagasti; Stefan-Octavian Bezrucav; Francesca Canale; Amedeo Cesta; Burkhard Corves; Nils Mandischer; Mikel Mondragon; Cristina Naso; Andrea Orlandini
Published in: Issue 1, 2022, ISBN 978-1-6654-9996-5
Publisher: IEE
DOI: 10.5281/zenodo.7319800

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

Author(s): Faroni, Marco; Beschi, Manuel; Pedrocchi, Nicola
Published in: 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:, Issue 3, 2020, ISBN 978-1-7281-5715-3
Publisher: IEEE
DOI: 10.5281/zenodo.6367917

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

Author(s): Aquib Rashd; Wolfram Hardt; Alexey Kolker; Mohamad Bdiwi; Matthias Putz
Published in: 2020 3rd International Conference on Mechatronics, Robotics and Automation (ICMRA), Issue 1, 2020, ISBN 978-1-7281-9032-7
Publisher: IEEE
DOI: 10.5281/zenodo.7298289

Optimal task and motion planning for human-robot collaboration

Author(s): Marco Faroni; Manule Beschi; Nicola Pedrocchi
Published in: Convegno nazionale SIDRA Automatica.it 2021, Catania, 02/09/2021, Issue 1, 2021
Publisher: SIDRA Automatica

A Language for Timeline-based Planning

Author(s): Giulio Bernardi; Amedeo Cesta; Andrea Orlandini; Alessandro Umbrico; Marta Cialdea Mayer
Published in: 2nd Workshop on Artificial Intelligence and Formal Verification, Logics, Automata and Synthesis (OVERLAY) (OVERLAY), September 25, 2020, 2020
Publisher: 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

Author(s): Julen Urain, Anqi Li, Puze Liu, Carlo D'Eramo, & Jan Peters.
Published in: Robotics Science and Systems Conference., 2021
Publisher: Robotics Science and Systems Conference.
DOI: 10.5281/zenodo.5336918

Multi-modal interfaces for natural Human-Robot Interaction

Author(s): Dionisis Andronas; Sotiris Makris; George Apostolopoulos; Nikos Fourtakas
Published in: 10th International Conference on Digital Enterprise Technology (CIRP DET)., 2020
Publisher: Elsevier
DOI: 10.1016/j.promfg.2021.07.030

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

Author(s): Cesare Tonola; Marco Faroni; Nicola Pedrocchi; Manuel Beschi
Published in: Conferenza dell'Istituto di Robotica e Macchine Intelligent, Roma, 10/10/2021, Issue 1, 2021, ISBN 978-1-6654-0492-1
Publisher: IEEE

Structured Policy Representation. Stability in arbitrarily conditioned dynamic systems

Author(s): Urain, Julen; Tateo, Davide; Tianyu Ren; Peters, Jan
Published in: Neural Information Processing Systems (NEurIPS), Issue 1, 2020
Publisher: Neural Information Processing Systems (NEurIPS)
DOI: 10.5281/zenodo.4817882

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

Author(s): Stefan-Octavian Bezrucav; Burkhard Corves
Published in: Special Issue Industrial Robotics: Design and Applications, Issue 1, 2022, ISSN 2076-3417
Publisher: MDPI
DOI: 10.5281/zenodo.6539729

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

Author(s): Stefan-Octavian Bezrucav; Burkhard Corves
Published in: Applied Sciences; Volume 12; Issue 5; Pages: 2319, Issue 1, 2022, ISSN 2076-3417
Publisher: MDPI
DOI: 10.18154/rwth-2022-03040

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

Author(s): Stefano Mutti; Nicola Pedrocchi
Published in: IEEE Access, Vol 9, Pp 127664-127671 (2021), Issue 1, 2021, ISSN 2169-3536
Publisher: 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

Author(s): Marco Faroni; Manuel Beschi; Antonio Visioli; Nicola Pedrocchi
Published in: Mechanism and Machine Theory, Issue 4, 2021, Page(s) 2021, ISSN 0094-114X
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.mechmachtheory.2020.104152

On timeline-based games and their complexity

Author(s): Nicola Gigante, Angelo Montanari, Andrea Orlandini, Marta Cialdea Mayer, Mark Reynolds
Published in: Theoretical Computer Science, Issue 815, 2020, Page(s) 247-269, ISSN 0304-3975
Publisher: Elsevier BV
DOI: 10.1016/j.tcs.2020.02.011

Toward intelligent continuous assistance

Author(s): Alessandro Umbrico, Gabriella Cortellessa, Andrea Orlandini, Amedeo Cesta
Published in: Journal of Ambient Intelligence and Humanized Computing, 2020, ISSN 1868-5137
Publisher: Springer Verlag
DOI: 10.1007/s12652-020-01766-w

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

Author(s): 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
Published in: 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, Issue 1, 2022, ISSN 2076-3417
Publisher: MDPI
DOI: 10.3390/app12146839

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

Author(s): Nils Mandischer , Tobias Huhn , Mathias Hüsing , Burkhard Corves
Published in: Sensors, Issue Volume 21, Issue 14, 2021, ISSN 2114-4818
Publisher: MDPI
DOI: 10.3390/s21144818

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

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

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