Reactive and Safety-Aware Path Replanning for Collaborative Applications
Tonola, Cesare Faroni, Marco Abdolshah, Saeed Hamad, Mazin Haddadin, Sami Pedrocchi, Nicola Beschi, Manuel
Tonola, Cesare
Faroni, Marco
Abdolshah, Saeed
Hamad, Mazin
Haddadin, Sami
Pedrocchi, Nicola
Beschi, Manuel
Supervisor
Department
Robotics
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Type
Journal article
Date
2025
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Language
English
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Abstract
This paper addresses motion replanning in human-robot collaborative scenarios, with an emphasis on reactivity and safety-compliant efficiency. While existing human-aware motion planners perform well in structured environments, they often struggle with unpredictable human behavior. This can result in safety measures that hinder the robot’s performance and overall throughput. This study combines reactive path replanning and a safety-aware cost function, enabling the robot to adapt its path to the changes in the scene in real-time. This solution reduces the execution time and trajectory slowdowns while ensuring safety. Simulations and real-world experiments show the method’s effectiveness compared to standard human-robot cooperation approaches, with efficiency enhancements of up to 60%.
Citation
C. Tonola et al., "Reactive and Safety-Aware Path Replanning for Collaborative Applications," in IEEE Transactions on Automation Science and Engineering, doi: 10.1109/TASE.2025.3607037
Source
IEEE Transactions on Automation Science and Engineering
Conference
Keywords
Human-aware Motion Planning, Human-robot Collaboration, Motion Re-planning, Behavioral Research, Collaborative Robots, Costs, Man Machine Systems, Robot Programming, Safety Engineering, Collaborative Application, Human Robots, Human-aware, Human-aware Motion Planning, Human-robot Collaboration, Motion Re-planning, Motion-planning, Path Re-planning, Re-planning, Safety-aware, Motion Planning
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Publisher
IEEE