{"id":1824,"date":"2021-07-14T09:30:00","date_gmt":"2021-07-14T07:30:00","guid":{"rendered":"http:\/\/cirpicme.org\/?page_id=1824"},"modified":"2021-07-13T18:58:22","modified_gmt":"2021-07-13T16:58:22","slug":"robust-assembly-task-assignment-in-human-robot-collaboration-as-a-markov-decision-process-problem","status":"publish","type":"page","link":"https:\/\/cirpicme.org\/index.php\/robotics-human-robot-collaboration\/robust-assembly-task-assignment-in-human-robot-collaboration-as-a-markov-decision-process-problem\/","title":{"rendered":"Robust assembly task assignment in Human Robot Collaboration as a Markov Decision Process problem"},"content":{"rendered":"\n<p class=\"wp-block-paragraph\"><em>by <em>Dario Antonelli, Khurshid Aliev (Italy)<\/em><\/em><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>Abstract<\/strong><\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Collaborative robots can work together with human workers in assembly workstations. Their drawback is the lack of flexibility that force human co-worker to bear the cognitive burden of strictly replicating every time the same tasks. To improve human-robot collaboration, human should be allowed to exchange tasks with the robot if this doesn&#8217;t hinder the final assembly. The study proposes a robust real time optimization of the assembly task assignment through the modelling of the assignment problem as a Markov Decision Process with a randomly selected starting state.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>Keywords<\/strong>: HRC; Adversarial Reinforcement learning; Optimal assembly sequence planning<\/p>\n\n\n\n<div style=\"height:20px\" aria-hidden=\"true\" class=\"wp-block-spacer\"><\/div>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>Video presentation<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-video\"><video height=\"1080\" style=\"aspect-ratio: 1920 \/ 1080;\" width=\"1920\" controls src=\"http:\/\/cirpicme.org\/wp-content\/uploads\/2021\/07\/Dario_Antonelli.mp4\"><\/video><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\"><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>Presenting author<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-table is-style-stripes\"><table class=\"has-subtle-light-gray-background-color has-background\"><tbody><tr><td><\/td><td><\/td><td><\/td><\/tr><tr><td><img data-recalc-dims=\"1\" loading=\"lazy\" decoding=\"async\" width=\"150\" height=\"200\" class=\"wp-image-2492\" style=\"width: 150px;\" src=\"https:\/\/i0.wp.com\/cirpicme.org\/wp-content\/uploads\/2021\/07\/Dario-Antonelli.jpg?resize=150%2C200\" alt=\"\" srcset=\"https:\/\/i0.wp.com\/cirpicme.org\/wp-content\/uploads\/2021\/07\/Dario-Antonelli.jpg?w=375&amp;ssl=1 375w, https:\/\/i0.wp.com\/cirpicme.org\/wp-content\/uploads\/2021\/07\/Dario-Antonelli.jpg?resize=225%2C300&amp;ssl=1 225w, https:\/\/i0.wp.com\/cirpicme.org\/wp-content\/uploads\/2021\/07\/Dario-Antonelli.jpg?resize=113%2C150&amp;ssl=1 113w\" sizes=\"auto, (max-width: 150px) 100vw, 150px\" \/><\/td><td><strong>Name:<\/strong><br><br><strong>Affiliation:<\/strong><br><br><strong>Email:<\/strong><\/td><td>Dario Antonelli<br><br>Politecnico di Torino, Italy<br><br>dario.antonelli@polito.it<\/td><\/tr><tr><td><\/td><td><\/td><td><\/td><\/tr><\/tbody><\/table><\/figure>\n","protected":false},"excerpt":{"rendered":"<p>by Dario Antonelli, Khurshid Aliev (Italy) Abstract Collaborative robots can work together with human workers in assembly workstations. Their drawback is the lack of flexibility that force human co-worker to bear the cognitive burden of strictly replicating every time the same tasks. To improve human-robot collaboration, human should be allowed&#8230;<\/p>\n<p> <a class=\"continue-reading-link\" href=\"https:\/\/cirpicme.org\/index.php\/robotics-human-robot-collaboration\/robust-assembly-task-assignment-in-human-robot-collaboration-as-a-markov-decision-process-problem\/\"><span>Continue reading<\/span><i class=\"crycon-right-dir\"><\/i><\/a> <\/p>\n","protected":false},"author":4,"featured_media":0,"parent":2317,"menu_order":0,"comment_status":"open","ping_status":"closed","template":"","meta":{"nf_dc_page":"","om_disable_all_campaigns":false,"_monsterinsights_skip_tracking":false,"_monsterinsights_sitenote_active":false,"_monsterinsights_sitenote_note":"","_monsterinsights_sitenote_category":0,"footnotes":""},"class_list":["post-1824","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/cirpicme.org\/index.php\/wp-json\/wp\/v2\/pages\/1824","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/cirpicme.org\/index.php\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/cirpicme.org\/index.php\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/cirpicme.org\/index.php\/wp-json\/wp\/v2\/users\/4"}],"replies":[{"embeddable":true,"href":"https:\/\/cirpicme.org\/index.php\/wp-json\/wp\/v2\/comments?post=1824"}],"version-history":[{"count":3,"href":"https:\/\/cirpicme.org\/index.php\/wp-json\/wp\/v2\/pages\/1824\/revisions"}],"predecessor-version":[{"id":2496,"href":"https:\/\/cirpicme.org\/index.php\/wp-json\/wp\/v2\/pages\/1824\/revisions\/2496"}],"up":[{"embeddable":true,"href":"https:\/\/cirpicme.org\/index.php\/wp-json\/wp\/v2\/pages\/2317"}],"wp:attachment":[{"href":"https:\/\/cirpicme.org\/index.php\/wp-json\/wp\/v2\/media?parent=1824"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}