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The presence and coexistence of human operators and collaborative robots inshop-floor environments raises the need for assigning tasks to either operatorsor robots, or both. Depending on task characteristics, operator capabilitiesand the involved robot functionalities, it is of the utmost importance todesign strategies allowing for the concurrent and/or sequential allocation oftasks related to object manipulation and assembly. In this paper, we extend the\textsc{FlexHRC} framework presented in \cite{darvish2018flexible} to allow ahuman operator to interact with multiple, heterogeneous robots at the same timein order to jointly carry out a given task. The extended \textsc{FlexHRC}framework leverages a concurrent and sequential task representation frameworkto allocate tasks to either operators or robots as part of a dynamiccollaboration process. In particular, we focus on a use case related to theinspection of product defects, which involves a human operator, a dual-armBaxter manipulator from Rethink Robotics and a Kuka youBot mobile manipulator.

A Task Allocation Approach for Human-Robot Collaboration in Product Defects Inspection Scenarios