Human-Robot Task and Motion Planning in an Industrial Application

In the evolving industrial landscape, Human-Robot Collaboration (HRC) has emerged as a significant technological challenge. Central to optimizing HRC's potential is the integration of Task and Motion Planning (TAMP) to maximise the benefits of robot-assisted tasks. In this extended abstract, we identify and discuss the critical challenges the TAMP framework should address: integration of agents' capabilities, sharing activities with agents, ensuring operator's safety and ergonomics during collaborative motion and, finally, monitoring the environment and the process. We spotlight the carbon fiber draping process as a case study, highlighting the crucial role a human-aware TAMP solution can play. Concluding, we introduced our in-progress TAMP method tailored to address these specific industrial challenges.