A Task Allocation Framework for Human Multi-Robot Collaborative Settings

The requirements of modern production systems together with more advanced robotic technologies have fostered the integration of teams comprising humans and autonomous robots. While this integration has the potential to provide various benefits, it also raises questions about how to effec- tively manage these teams, taking into account the different characteristics of the agents involved. This paper presents a framework for task allocation in a human multi-robot collabo- rative scenario. The proposed solution combines an optimal offline allocation with an online reallocation strategy which accounts for inaccuracies of the offline plan and/or unforeseen events, human subjective preferences and cost of task switching. Experiments with two manipulators cooperating with a human operator in a box filling task are presented.