Two-Stage Task Scheduling Methods for HRC Construction Tasks

Abstract: Scheduling is critical in human-robot collaboration (HRC) in construction, including work-rest scheduling and task sequencing. However, previous research often examines the two scheduling components as distinct optimization problems, neglecting their interdependence. This oversight can lead to ineffective collaboration, resulting in human fatigue and underutilized robotic capabilities. This study presents two-stage methods utilizing a modified genetic algorithm (GA) to optimize HRC scheduling. By addressing the complexities inherent in HRC environments, proposed methods aim to balance safety and productivity in construction tasks. The study also discusses the effects of the order in which scheduling components are optimized on HRC performance.