TR2025-066

E-UHTP: An Extended Human-Aware Task Planner for Communication-Free Collaborative Assembly

    •  Giacomuzzo, G., Pegoraro, G., Terreran, M., Ghidoni, S., Carli, R., Romeres, D., "E-UHTP: An Extended Human-Aware Task Planner for Communication-Free Collaborative Assembly", IEEE International Conference on Robotics and Automation (ICRA) - Workshop on The Future of Intelligent Manufacturing: From innovation to implementation, May 2025.
      BibTeX TR2025-066 PDF
      • @inproceedings{Giacomuzzo2025may,
      • author = {Giacomuzzo, Giulio and Pegoraro, Giulia and Terreran, Matteo and Ghidoni, Stefano and Carli, Ruggero and Romeres, Diego},
      • title = {{E-UHTP: An Extended Human-Aware Task Planner for Communication-Free Collaborative Assembly}},
      • booktitle = {IEEE International Conference on Robotics and Automation (ICRA) - Workshop on The Future of Intelligent Manufacturing: From innovation to implementation},
      • year = 2025,
      • month = may,
      • url = {https://www.merl.com/publications/TR2025-066}
      • }
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  • Research Area:

    Robotics

Abstract:

We propose E-UHTP, an enhanced task planner for collaborative assembly in communication-free human-robot environments. E-UHTP extends User-aware Hierarchical Task Planning (UHTP) by supporting joint actions, failure recovery, and online replanning. We introduce an automatic Hierarchical Task Network (HTN) generation method from annotated video demonstrations. Experimental simulations in multiple assembly scenarios demonstrate the improved performance, flexibility, and robustness of E-UHTP over baseline planners.