Speakers

Talk Title

Human Robot Collaborative Assembly Planning under Uncertainty

ABSTRACT of the TALK

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.

Keywords: Assembly planning, human robot collaboration, task and motion planning, planning under uncertainty

BIO

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, and carried out postdoctoral research at the University of Toronto and Vienna University of Technology. Her research is in the area of artificial intelligence, in particular, the mathematical foundations of knowledge representation and automated reasoning, and their applications to various domains, including robotics, bioinformatics, logistics, and economics. She was a general co-chair of ICLP 2013 and a program co-chair of ICLP 2019 and KR 2020, and is the general chair of KR 2021. She is a member of the editorial boards of AIJ and TPLP. She received the Young Scientist award by the Science Academy, and the Women Leader of Innovative and Disruptive Technologies award by Microsoft.