For assembly planning, robots necessitate certain cognitive skills: high-level planning of actuation actions is needed to decide for their order, while geometric reasoning is needed to check their feasibility. For collaborative assembly tasks with humans, robots require further cognitive capabilities, such as commonsense reasoning, sensing, and communication skills, not only to cope with the uncertainty caused by incomplete knowledge about the humans behaviors but also to ensure safer collaborations. We introduce a formal framework for collaborative assembly planning under uncertainty that utilizes hybrid conditional planning extended with commonsense reasoning and a rich set of communication actions for collaborative tasks. We show the applicability of our approach over a furniture assembly domain, where a bi-manual Baxter robot collaborates with a human to assemble a table, with dynamic simulations and physical implementations. We also evaluate our approach experimentally in this domain with respect to quantitative and qualitative performance measures.
Esra Erdem is an associate professor in computer science and
engineering at Sabanci University. She received her Ph.D. in
computer sciences at the University of Texas at Austin (2002), and
carried out postdoctoral research at the University of Toronto and
Vienna University of Technology from 2002 to 2006. Her research is
in the area of artificial intelligence, in particular, the
mathematical foundations of knowledge representation and reasoning,
and their applications to cognitive robotics and computational
Esra is visiting Scotland in October as a SICSA Distinguished Visiting Fellow.