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

Resultado final

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

Publicaciones

An Action Interface Manager for ROSPlan

Autores: Bezrucav, Stefan-Octavian, Canal, Gerard, Cashmore, Michael, & Corves, Burkhard.
Publicado en: The 31st International Conference on Automated Planning and Scheduling (PlanRob),, 2021
Editor: 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

Autores: Elisa Foderaro, Amedeo Cesta, Alessandro Umbrico, & Andrea Orlandini.
Publicado en: The International Conference on Automated Planning and Scheduling (ICAPS 2021)., 2021
Editor: 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

Autores: Enrico Villagrossi; Nicola Pedrocchi; Marco Faroni; Michele Delledonne; Manuel Beschi
Publicado en: 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:, Edición 1, 2021, ISBN 9788894580
Editor: I-RIM Conference
DOI: 10.5281/zenodo.5900570

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

Autores: Bezrucav, Stefan-Octavian; Kaiser, Malte; Corves, Burkhard
Publicado en: Scheduling and Planning Applications woRKshop at the 31st International Conference on Automated Planning and Scheduling (SPARK), 2021
Editor: 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

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

Towards Automatic State Recovery for Replanning

Autores: Bezrucav, Stefan-Octavian; Canal, Gerard; Coles, Andrew; Cashmore, Michael; Corves, Burkhard
Publicado en: [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, Edición 3, 2022
Editor: ICAPS
DOI: 10.5281/zenodo.6637459

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

Autores: Marco Faroni; Manuel Beschi; Stefano Ghidini; Nicola Pedrocchi; Alessandro Umbrico; Andrea Orlandini; Amedeo Cesta
Publicado en: IEE RO-MAN Conference 2020., 2020
Editor: 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

Autores: Mandischer, Nils; Weidemann, Carlo; Hüsing, Mathias; Corves, Burkhard
Publicado en: Edición 1, 2022, ISBN 978-1-6654-5258-8
Editor: IEEE
DOI: 10.5281/zenodo.7254308

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

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

Towards Automatic State Recovery for Replanning

Autores: Bezrucav, Stefan-Octavian; Canal, Gerard; Coles, Andrew; Cashmore, Michael; Corves, Burkhard
Publicado en: International Conference on Automated Planning and Scheduling (IntEx 2022), Edición 1, 2022
Editor: IntEx 2022
DOI: 10.5281/zenodo.6637460

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

Autores: Sandrini, Samuele; Faroni, Marco; Pedrocchi, Nicola
Publicado en: IEEE 27th International Conference on Emerging Technologies and Factory Automation (ETFA, Edición 1, 2022
Editor: IEEE
DOI: 10.5281/zenodo.7298424

Design of Human Robot Collaboration workstations – Two automotive case studies

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

ImitationFlow: Learning Deep Stable Stochastic Dynamic Systems by Normalizing Flows

Autores: Julen Urain; Michele Ginesi; Davide Tateo; Jan Peters
Publicado en: International Conference on Intelligent Robots and Systems (IROS), Edición 4, 2020
Editor: IEEE
DOI: 10.48550/arxiv.2010.13129

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

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

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

Autores: Tonola, Cesare; Faroni, Marco; Pedrocchi, Nicola; Beschi, Manuel
Publicado en: IEEE International Conference on Robot and Human Interactive Communication (IEEE ROMAN), Edición 3, 2021
Editor: IEEE
DOI: 10.48550/arxiv.2103.13245

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

Autores: Tonola, Cesare, ; Faroni, Marco; Pedrocchi, Nicola; Beschi, Manuel
Publicado en: IEEE International Conference on Robot and Human Interactive Communication (IEEE ROMAN), 2021
Editor: 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

Autores: Bezrucav, Stefan-Octavian; Corves, Burkhard
Publicado en: The 30th International Conference on Automated Planning and Scheduling (PlanRob)., 2020
Editor: 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

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

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

Autores: Marco Faroni; Manuel Beschi; Nicola Pedrocchi; Alessandro Umbrico; Andrea Orlandini; Amedeo Cesta
Publicado en: 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:, Edición 3, 2020, ISBN 97888945805
Editor: I-RIM Conference
DOI: 10.5281/zenodo.4781160

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

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

An Ontology for Human-Robot Collaboration

Autores: Alessandro Umbrico; Andrea Orlandini; Amedeo Cesta
Publicado en: 53rd CIRP Conference on Manufacturing Systems (CIRP), 2020
Editor: 53rd CIRP Conference on Manufacturing Systems (CIRP)
DOI: 10.1016/j.procir.2020.04.045

A Prototype for the Robust Execution of Flexible Plans

Autores: Lanzilli Annarita; Cialdea Mayer Marta; Cesta Amedeo; Orlandini Andrea; Umbrico Alessandro
Publicado en: Proceedings of the 1st Workshop on Artificial Intelligence and Formal Verification, Logics, Automata and Synthesis, 2019
Editor: 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

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

Generalized Multiple Correlation Coefficient as a Similarity Measurement between Trajectories

Autores: Urain, J. & Peters, J.
Publicado en: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019
Editor: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
DOI: 10.5281/zenodo.3829179

Enhanced Cognition for Adaptive Human-Robot Collaboration

Autores: Alessandro Umbrico; Mikel Anasagasti; Stefan-Octavian Bezrucav; Francesca Canale; Amedeo Cesta; Burkhard Corves; Nils Mandischer; Mikel Mondragon; Cristina Naso; Andrea Orlandini
Publicado en: Edición 1, 2022, ISBN 978-1-6654-9996-5
Editor: IEE
DOI: 10.5281/zenodo.7319800

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

Autores: Faroni, Marco; Beschi, Manuel; Pedrocchi, Nicola
Publicado en: 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:, Edición 3, 2020, ISBN 978-1-7281-5715-3
Editor: IEEE
DOI: 10.5281/zenodo.6367917

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

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

Optimal task and motion planning for human-robot collaboration

Autores: Marco Faroni; Manule Beschi; Nicola Pedrocchi
Publicado en: Convegno nazionale SIDRA Automatica.it 2021, Catania, 02/09/2021, Edición 1, 2021
Editor: SIDRA Automatica

A Language for Timeline-based Planning

Autores: Giulio Bernardi; Amedeo Cesta; Andrea Orlandini; Alessandro Umbrico; Marta Cialdea Mayer
Publicado en: 2nd Workshop on Artificial Intelligence and Formal Verification, Logics, Automata and Synthesis (OVERLAY) (OVERLAY), September 25, 2020, 2020
Editor: 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

Autores: Julen Urain, Anqi Li, Puze Liu, Carlo D'Eramo, & Jan Peters.
Publicado en: Robotics Science and Systems Conference., 2021
Editor: Robotics Science and Systems Conference.
DOI: 10.5281/zenodo.5336918

Multi-modal interfaces for natural Human-Robot Interaction

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

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

Autores: Cesare Tonola; Marco Faroni; Nicola Pedrocchi; Manuel Beschi
Publicado en: Conferenza dell'Istituto di Robotica e Macchine Intelligent, Roma, 10/10/2021, Edición 1, 2021, ISBN 978-1-6654-0492-1
Editor: IEEE

Structured Policy Representation. Stability in arbitrarily conditioned dynamic systems

Autores: Urain, Julen; Tateo, Davide; Tianyu Ren; Peters, Jan
Publicado en: Neural Information Processing Systems (NEurIPS), Edición 1, 2020
Editor: Neural Information Processing Systems (NEurIPS)
DOI: 10.5281/zenodo.4817882

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

Autores: Stefan-Octavian Bezrucav; Burkhard Corves
Publicado en: Special Edición Industrial Robotics: Design and Applications, Edición 1, 2022, ISSN 2076-3417
Editor: MDPI
DOI: 10.5281/zenodo.6539729

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

Autores: Stefan-Octavian Bezrucav; Burkhard Corves
Publicado en: Applied Sciences; Volume 12; Edición 5; Pages: 2319, Edición 1, 2022, ISSN 2076-3417
Editor: MDPI
DOI: 10.18154/rwth-2022-03040

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

Autores: Stefano Mutti; Nicola Pedrocchi
Publicado en: IEEE Access, Vol 9, Pp 127664-127671 (2021), Edición 1, 2021, ISSN 2169-3536
Editor: 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

Autores: Marco Faroni; Manuel Beschi; Antonio Visioli; Nicola Pedrocchi
Publicado en: Mechanism and Machine Theory, Edición 4, 2021, Página(s) 2021, ISSN 0094-114X
Editor: Pergamon Press Ltd.
DOI: 10.1016/j.mechmachtheory.2020.104152

On timeline-based games and their complexity

Autores: Nicola Gigante, Angelo Montanari, Andrea Orlandini, Marta Cialdea Mayer, Mark Reynolds
Publicado en: Theoretical Computer Science, Edición 815, 2020, Página(s) 247-269, ISSN 0304-3975
Editor: Elsevier BV
DOI: 10.1016/j.tcs.2020.02.011

Toward intelligent continuous assistance

Autores: Alessandro Umbrico, Gabriella Cortellessa, Andrea Orlandini, Amedeo Cesta
Publicado en: Journal of Ambient Intelligence and Humanized Computing, 2020, ISSN 1868-5137
Editor: Springer Verlag
DOI: 10.1007/s12652-020-01766-w

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

Autores: 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
Publicado en: 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, Edición 1, 2022, ISSN 2076-3417
Editor: MDPI
DOI: 10.3390/app12146839

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

Autores: Nils Mandischer , Tobias Huhn , Mathias Hüsing , Burkhard Corves
Publicado en: Sensors, Edición Volume 21, Edición 14, 2021, ISSN 2114-4818
Editor: MDPI
DOI: 10.3390/s21144818

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

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

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