Task Planning and Execution for Human-Robot Team Performing a Shared Task in a Shared Workspace

A cyber-physical system is developed to enable a human-robot team perform a shared task in a shared workspace. The system setup is suitable for the implementation of a tabletop manipulation task, a common human-robot collaboration scenario. The system integrates elements that exist in the physical (real) and virtual world. In this work, we report the insights we gathered throughout our exploration in understanding and implementing task planning and execution for human-robot team.