Towards An Effective Human-Robot Team Collaboration - A Resilient Task Scheduling Approach For Real Industrial Scenarios

Dynamic task scheduling between human and robots is one of the great challenges of collaborative robotics. The high dynamism of the shared workspace brings many uncertainties that cannot be foreseen on beforehand. Therefore, an offline task scheduling strategy leads to really poor performance in such contexts. In this paper, an approach to achieve a resilient and reliable task scheduling is presented. The proposed framework can deal with deviations  during operation, different operator skills, errors and substitution of actors.