You, Yingchao, Ji, Ze  ORCID: https://orcid.org/0000-0002-8968-9902 and Wei, Changyun
2026.
Towards human-centric manufacturing: Task planning under uncertainties in human–robot collaborative assembly.
Robotics and Computer-Integrated Manufacturing
101
, 103293.
10.1016/j.rcim.2026.103293
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Abstract
Task planning plays a pivotal role in ensuring the smooth collaboration between humans and robots by efficiently allocating tasks among agents and scheduling available resources. Although some recently proposed task planners incorporate human factors into their frameworks, few explicitly account for human-related uncertainties, which can potentially lead to task failures. To address this gap, this study introduces a physical exertion–aware task planner that explicitly considers uncertainties in both human factors and task execution time. The uncertainties associated with physical exertion and execution time are modelled using the Single-Valued Triangular Neutrosophic (SVTN) Number method. Furthermore, a reinforcement learning-based approach is developed to learn adaptive task allocation policies and scheduling under these uncertainties. The experimental results indicate that the reinforcement learning-based approach effectively reduces performance variability compared with the benchmark methods.
| Item Type: | Article |
|---|---|
| Date Type: | Publication |
| Status: | Published |
| Schools: | Schools > Engineering |
| Additional Information: | RRS policy applied |
| Publisher: | Elsevier |
| ISSN: | 0736-5845 |
| Date of First Compliant Deposit: | 9 March 2026 |
| Date of Acceptance: | 2 March 2026 |
| Last Modified: | 09 Mar 2026 15:15 |
| URI: | https://orca.cardiff.ac.uk/id/eprint/185596 |
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