Risk-Aware Decision Making for HumanCRobot Collaboration With Effective Communication

Human-robot collaboration is crucial for integrating robots into intelligent manufacturing (IM). However, a significant challenge is rational decision-making for the human-cyber-physical system (HCPS) in IM to enhance cognitive limits of human operators and overcome the potential irrationality. Since humans dominate the collaboration in IM, it is essential to address two critical issues: determining the next task for the robot and deciding whether the human operator should be informed. We propose a risk-aware decision-making framework for task allocation and human-robot interaction (HRI) to achieve a balance between the autonomy level of the human operator and task efficiency. To quantify the efficiency risk, we utilize conditional value-at-risk (CVaR) considering the uncertainty of human operators. We then obtain the optimal task allocation and selection for the robot by minimizing the efficiency risk. We also establish a necessary collection of tasks that must be performed by the human operator. Furthermore, we develop two criteria to quantify the necessity of explicit HRI. Experiments with a real mechanical arm platform demonstrate that our methods can enhance human-robot collaboration (HRC), reduce the need for extensive communication, and grant human operators greater execution freedom.