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Fakultät für Mathematik, Physik und Informatik

Angewandte Informatik III - Robotik und eingebettete Systeme - Prof. Dr. Dominik HENRICH

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Coloured Petri Nets for Monitoring Human Actions in Flexible Human-Robot Teams
Nico Höllerich , Dominik Henrich

Abstract (english)
Human-robot collaboration in shared workspaces
enables companies to improve efficiency and the quality of work
for human workers. A novel research direction in this field is
that human and robot dynamically negotiate which actions to
perform. This requires the robot to permanently monitor the
current task state and actions the human has performed. We
envision a system that tracks the task progress based on visual
input. We assume that a task specification is provided in terms
of a coloured Petri net. The contribution of this paper is twofold.
We introduce the notion of emissions for coloured Petri nets
that incorporate partial observability and uncertainty. We then
show how one can efficiently determine the evolution of the net
when a sequence of partial observations is provided. To this end,
we determine a small set of transition as candidates in a firing
sequence first. Then, transition sequences are sampled to obtain
markings compatible with the latest observation. We evaluate
our algorithm in a simulated environment on a pick and place
task and compare it to an aging-based approach from literature.
Results show that our algorithm achieves higher precision
compared to the aging-based approach. Running times indicate
that the update procedure can run at 15 Hz on average.

Publication data

Year: 2021
Publication date: 01. October 2021
Place: Prague
Source: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Project: FlexCobot
Keywords (english): Human-Robot-Cooperation , probabilistic inference
Referrer: https://www.ai3.uni-bayreuth.de/de/publikationen/resypub/index.php?mode=pub_show&pub_ref=hllerich2021a
Free text: Link to publication


  TITLE             = "Coloured Petri Nets for Monitoring Human Actions in Flexible Human-Robot Teams",
  AUTHOR            = "Höllerich, Nico and Henrich, Dominik",
  YEAR              = "2021",
  JOURNAL           = "IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",
  HOWPUBLISHED      = "\url{https://www.ai3.uni-bayreuth.de/de/publikationen/resypub/index.php?mode=pub_show&pub_ref=hllerich2021a}",
  NOTE              = "<a href="https://doi.org/10.1109/IROS51168.2021.9636428" target="_blank">Link to publication</a>",

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