Publication Details

Luke Fraser, Banafsheh Rekabdar, Monica Nicolescu, Mircea Nicolescu, and David Feil-Seifer. "A Hierarchical Control Architecture for Robust and Adaptive Collaborative Robot Task Execution." Refereed Workshop Robotics: Science \& Systems: Workshop on Planning for Human-Robot Interaction: Shared Autonomy and , Cambridge, Massachusetts, Jun 2016. ( pdf )


  • Keywords:
  • collaborative robotics
  • task allocation
  • task architecture

Abstract

Robot task representation typically involves a sequential set of steps. This methodology does not generalize to complex real-world tasks. Real-world tasks involve multiple paths of execution, where intra-task dependencies allow for different methods to complete the same task. Representing such complex tasks compactly poses a challenge as enumerating all possible paths results in combinatorial growth. As well, complex tasks benefit from the shared work of multiple agents. Tasks representations should provide a mechanism for multiple agents to communicate and self-organize as a team. We propose a control architecture to address these issues. The architecture 1) provides an efficient an compact encoding of complex tasks, 2) enables robots to infer what the other teamates are doing, 3) allows robots to dynamically decide which execution path to follow using an activation spreading mechanism.

Author Details

Name: Luke Fraser
email: Fraser@nevada.unr.edu
Phone: 775-273-8474
Status: Active

Name: Banafsheh Rekabdar
Status: Active

Name: Monica Nicolescu
Status: Active

Name: Mircea Nicolescu
Status: Inactive

Name: David Feil-Seifer
email: dave@cse.unr.edu
Website: http://cse.unr.edu/~dave
Phone: (775) 784-6469
Status: Active

BibTex Reference

@inproceedings{fraser2016a,
  title={A Hierarchical Control Architecture for Robust and Adaptive Collaborative Robot Task Execution},
  author={Luke Fraser and Banafsheh Rekabdar and Monica Nicolescu and Mircea Nicolescu and David Feil-Seifer},
  year={2016},
  month={June},
  address={Cambridge, Massachusetts},
  booktitle={Robotics: Science \& Systems: Workshop on Planning for Human-Robot Interaction: Shared Autonomy and },
}

HTML Reference

<span class="authors">Luke Fraser, Banafsheh Rekabdar, Monica Nicolescu, Mircea Nicolescu, and David Feil-Seifer</span>. <span class="title">"A Hierarchical Control Architecture for Robust and Adaptive Collaborative Robot Task Execution." </span> Refereed Workshop <span class="booktitle">Robotics: Science \& Systems: Workshop on Planning for Human-Robot Interaction: Shared Autonomy and </span>, <span class="address">Cambridge, Massachusetts</span>, <span class="month">Jun</span> <span class="year">2016</span>. <span class="ending"></span>

Support

Designing Collaborator Robots for Highly-Dynamic Multi-Human, Multi-Robot Teams, Office of Naval Research (ONR) PI: Monica Nicolescu, co-PI: David Feil-Seifer, Amount: $656,511, April 1, 2016 - March 31, 2019

DURIP: Humanoid Platforms for Human-Robot Collaboration, Office of Naval Research (ONR) PI: Monica Nicolescu, co-PI: David Feil-Seifer, Mircea Nicolescu, Amount: $312,000, May 1, 2014 - June 30, 2015