Increasing Behavioral Predictability with Hazardous Energy in Human-Robot Interaction on Safe Virtual Construction Sites

Abstract: Human variability challenges the use of robotics in construction. While research often focuses on robots adapting to humans, reducing human behavior variability is less explored. This paper presents a method using time-expanded graphs to identify safe pedestrian paths during human-robot interaction (HRI). Simulating hazardous energy in a virtual environment provides the safest routes for construction workers in dynamic hazardous environments. Forwarding these paths to pedestrian workers guides them through safe paths. User studies show this approach reduces hazardous exposure and increases behavior predictability, improving safety in HRI. This research underscores that providing safe worker routes enhances safety during HRI.