Beck, F., & Kugi, A. (2022). Motion Planning for Human-Robot Collaboration. In S. T. Köszegi & M. Vincze (Eds.), Trust in Robots (pp. 129–147). TU Wien Academic Press. https://doi.org/10.34727/2022/isbn.978-3-85448-052-5_6
In this work, we address motion planning for robots in human-robot collaboration. An overview of important properties
of a motion planning algorithm in terms of safety and human comfort is provided. In terms of comfort, we
emphasize fluency, legibility, and human-like motion. Furthermore, existing planning algorithms are reviewed and
contrasted in terms of these desired properties. Based on this review of the literature, a receding horizon trajectory
optimization approach is proposed, and its main features are highlighted.
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