Trajectory-Safe Orienteering for Human-Robot Shared Environments

Abstract:Orienteering problem (OP) has wide real-world applications and also great potential in human-robot collaboration. However, existing approaches struggle to simultaneously ensure safe and feasible trajectories while achieving high-quality task execution in shared workspaces. To this end, this work studies the OP with time windows and variable profits (OPTWVP). A two-stage DEcoupled discrete-Continuous Optimization with Service-time-guided Trajectory (DeCoST) approach is proposed to effectively solve OPTWVP in shared spaces. Meanwhile, the safety-aware time windows of nodes and the discretized workspace are introduced to ensure collision-free trajectories between the end effector and the human. Preliminary results validate the effectiveness of DeCoST in generating collision-free trajectory plans while preserving the quality of orienteering tasks.

Robotics (cs.RO)

arXiv:2609.34485 [cs.RO]

(or arXiv:2609.34485v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2609.34485 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

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