Silano, Giuseppe (Czech Technical University in Prague), Afifi, Amr (University of Twente), Saska, Martin (Czech Technical University in Prague), Franchi, Antonio (University of Twente)

A Signal Temporal Logic Planner for Ergonomic Human–Robot Collaboration

Scheduled for presentation during the Regular Session "UAS Applications II" (WeB5), Wednesday, June 7, 2023, 16:40−17:00, Room 466

2023 International Conference on Unmanned Aircraft Systems (ICUAS), June 6-9, 2023, Lazarski University, Warsaw, Poland

This information is tentative and subject to change. Compiled on April 25, 2024

Abstract

This paper proposes a method for designing human-robot collaboration tasks and generating corresponding trajectories. The method uses high-level specifications, expressed as an Signal Temporal Logic (STL) formula, to automatically synthesize task assignments and trajectories. To illustrate the approach, we focus on a specific task: a multi-rotor aerial vehicle performing object handovers in a power line setting. The motion planner considers limitations, such as payload capacity and recharging constraints, while ensuring that the trajectories are feasible. Additionally, the method enables users to specify robot behaviors that take into account human comfort (e.g., ergonomics, preferences) while using high-level goals and constraints. The approach is validated through numerical analyzes in MATLAB and realistic Gazebo simulations using a mock-up scenario.