behaviour Trees for Representing Human-Robot Collaboration Processes in the World-Wide Lab

Shorter product lifecycles, more product variants, individualised production, and the desire for sustainable production call for agile control frameworks that enable smarter robotic control and collaborating human-robot teams. We propose generalising and standardising "Behaviour Trees" that use human action nodes as a process model and task-execution-monitoring approach for human-robot collaborative assembly processes to increase the agility of human-robot teams while ensuring a safe and trusted human-robot interaction. Within the DFG (Deutsche Forschungsgemeinschaft) funded Cluster of Excellence "Internet of Production", we take a cross-disciplinary approach to conceptualisation and validation to ensure algorithmic soundness, technical viability, and social acceptance by the workers of increasingly agile human-robot teams.