Cyber-Physical Testbed for Human-Robot Collaborative Task Planning and\n Execution

Abstract

In this paper, we present a cyber-physical testbed created to enable a\nhuman-robot team to perform a shared task in a shared workspace. The testbed is\nsuitable for the implementation of a tabletop manipulation task, a common\nhuman-robot collaboration scenario. The testbed integrates elements that exist\nin the physical and virtual world. In this work, we report the insights we\ngathered throughout our exploration in understanding and implementing task\nplanning and execution for human-robot team.\n