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Proceedings Paper

An ontology to enable optimized task partitioning in human-robot collaboration for warehouse kitting operations
Author(s): Ashis Gopal Banerjee; Andrew Barnes; Krishnanand N. Kaipa; Jiashun Liu; Shaurya Shriyam; Nadir Shah; Satyandra K. Gupta
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Paper Abstract

Collaborative teams of human operators and mobile ground robots are becoming popular in manufacturing plants to assist humans with a lot of the repetitive tasks such as the packing of related objects into different units, an operation known as kitting. In this paper, we present an ontology to provide a unified representation of all kitting-related tasks, which are decomposed into atomic actions that are either computational involving sensing, perception, planning, and control, or physical involving actuation and manipulation. The ontology is then used in a stochastic integer linear program for optimum partitioning of the atomic tasks between the robots and humans. Preliminary experiments on a single robot, single human case yield promising results where the kitting operations are completed with lower durations and manipulation failure rates using human-robot partnership versus just the human or only the robot. This success is achieved by the robot seeking human assistance for visual perception tasks while performing the other tasks primarily on its own.

Paper Details

Date Published: 18 June 2015
PDF: 10 pages
Proc. SPIE 9494, Next-Generation Robotics II; and Machine Intelligence and Bio-inspired Computation: Theory and Applications IX, 94940H (18 June 2015); doi: 10.1117/12.2181346
Show Author Affiliations
Ashis Gopal Banerjee, GE Global Research (United States)
Andrew Barnes, GE Global Research (United States)
Krishnanand N. Kaipa, Univ. of Maryland, College Park (United States)
Jiashun Liu, Beijing Institute of Technology (China)
Shaurya Shriyam, Univ. of Maryland, College Park (United States)
Nadir Shah, Univ. of Maryland, College Park (United States)
Satyandra K. Gupta, Univ. of Maryland, College Park (United States)


Published in SPIE Proceedings Vol. 9494:
Next-Generation Robotics II; and Machine Intelligence and Bio-inspired Computation: Theory and Applications IX
Misty Blowers; Dan Popa; Muthu B. J. Wijesundara, Editor(s)

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