Design of Timeline-Based Planning Systems for Safe Human-Robot Collaboration

  • Andrea OrlandiniEmail author
  • Marta Cialdea Mayer
  • Alessandro Umbrico
  • Amedeo Cesta


During the last decade, industrial collaborative robots have entered assembly cells supporting human workers in repetitive and physical demanding operations. Such human-robot collaboration (HRC) scenarios entail many open issues. The deployment of highly flexible and adaptive plan-based controllers is capable of preserving productivity while enforcing human safety is then a crucial requirement. The deployment of plan-based solutions entails knowledge engineers and roboticists interactions in order to design well-suited models of robotic cells considering both operational and safety requirements. So, the ability of supporting knowledge engineering for integrating high level and low level control (also from non-specialist users) can facilitate deployment of effective and safe solutions in different industrial settings. In this chapter, we will provide an overview of some recent results concerning the development of a task planning and execution technology and its integration with a state of the art Knowledge Engineering environment to deploy safe and effective solutions in realistic manufacturing HRC scenarios. We will briefly present and discuss a HRC use case to demonstrate the effectiveness of such integration discussing its advantages.



Amedeo Cesta, Andrea Orlandini, and Alessandro Umbrico wish to acknowledge the support by the European Commission and the ShareWork project (H2020—Factories of the Future—G.A. nr. 820807).


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Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  • Andrea Orlandini
    • 1
    Email author
  • Marta Cialdea Mayer
    • 2
  • Alessandro Umbrico
    • 1
  • Amedeo Cesta
    • 1
  1. 1.Institute of Cognitive Science and TechnologyCNR – National Research Council of ItalyRomeItaly
  2. 2.Department of EngineeringUniversity “Roma TRE”Rome (RM)Italy

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