Human-robot cooperative precision spraying: Collaboration levels and optimization function

Ron Berenstein, Yael Edan

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

9 Scopus citations

Abstract

This paper presents two elements for the collaboration of a human operator with a robotic sprayer: definition of human-robot collaboration levels and a spraying coverage optimization function. Four levels of human-robot collaboration for marking the areas to be sprayed are developed and presented. A Spraying Coverage Optimization Function (SCOF) is developed as a utility function that evaluates the profit [$] of the spraying process given the process variables values. The SCOF influencing parameters are classified and presented.

Original languageEnglish
Title of host publicationSYROCO 2012 Preprints - 10th IFAC Symposium on Robot Control
PublisherIFAC Secretariat
Pages799-804
Number of pages6
Edition22
ISBN (Print)9783902823113
DOIs
StatePublished - 1 Jan 2012
Event10th IFAC Symposium on Robot Control, SYROCO 2012 - Dubrovnik, Croatia
Duration: 5 Sep 20127 Sep 2012

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Number22
Volume45
ISSN (Print)1474-6670

Conference

Conference10th IFAC Symposium on Robot Control, SYROCO 2012
Country/TerritoryCroatia
CityDubrovnik
Period5/09/127/09/12

Keywords

  • Human-robot collaboration
  • Selective spraying
  • Spraying
  • Spraying evaluation

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