{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2021:ANSIUPLDE5HRIPSRIJV5AYD436","short_pith_number":"pith:ANSIUPLD","schema_version":"1.0","canonical_sha256":"03648a3d63274f143e51426bd0607cdfa265b1d3df6808cd9ed94ad3f93919f7","source":{"kind":"arxiv","id":"2105.12031","version":2},"attestation_state":"computed","paper":{"title":"An Integrated Dynamic Method for Allocating Roles and Planning Tasks for Mixed Human-Robot Teams","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.RO","authors_text":"2), (2) Department of Electronics, Arash Ajoudani (1) ((1) Human-Robot Interfaces, Bioengineering, Edoardo Lamon (1), Elena De Momi (2), Fabio Fusaro (1, Genoa, Information, Istituto Italiano di Tecnologia, Italy, Italy), Milan, physical Interaction, Politecnico di Milano Politecnico di Milano","submitted_at":"2021-05-25T16:10:30Z","abstract_excerpt":"This paper proposes a novel integrated dynamic method based on Behavior Trees for planning and allocating tasks in mixed human robot teams, suitable for manufacturing environments. The Behavior Tree formulation allows encoding a single job as a compound of different tasks with temporal and logic constraints. In this way, instead of the well-studied offline centralized optimization problem, the role allocation problem is solved with multiple simplified online optimization sub-problem, without complex and cross-schedule task dependencies. These sub-problems are defined as Mixed-Integer Linear Pr"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2105.12031","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2021-05-25T16:10:30Z","cross_cats_sorted":["cs.AI"],"title_canon_sha256":"8b169a9f86456d7574b9f292e6ab26e94c7b8cc9c685cac2159521be8267cf5e","abstract_canon_sha256":"cc867f7be1892adddd1822236f1affe31063b8586dad2afc8b13a8436deb89f0"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T05:34:13.346102Z","signature_b64":"Iveu86kDplD2o/7P+PMa5fPv7V+kqjg9yT89cllGY246lTaUU7TJ9FwUzYgwSe4104FT8RxQdesUDg8jBKp1DQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"03648a3d63274f143e51426bd0607cdfa265b1d3df6808cd9ed94ad3f93919f7","last_reissued_at":"2026-07-05T05:34:13.345658Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T05:34:13.345658Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"An Integrated Dynamic Method for Allocating Roles and Planning Tasks for Mixed Human-Robot Teams","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.RO","authors_text":"2), (2) Department of Electronics, Arash Ajoudani (1) ((1) Human-Robot Interfaces, Bioengineering, Edoardo Lamon (1), Elena De Momi (2), Fabio Fusaro (1, Genoa, Information, Istituto Italiano di Tecnologia, Italy, Italy), Milan, physical Interaction, Politecnico di Milano Politecnico di Milano","submitted_at":"2021-05-25T16:10:30Z","abstract_excerpt":"This paper proposes a novel integrated dynamic method based on Behavior Trees for planning and allocating tasks in mixed human robot teams, suitable for manufacturing environments. The Behavior Tree formulation allows encoding a single job as a compound of different tasks with temporal and logic constraints. In this way, instead of the well-studied offline centralized optimization problem, the role allocation problem is solved with multiple simplified online optimization sub-problem, without complex and cross-schedule task dependencies. These sub-problems are defined as Mixed-Integer Linear Pr"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2105.12031","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2105.12031/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"aliases":[{"alias_kind":"arxiv","alias_value":"2105.12031","created_at":"2026-07-05T05:34:13.345717+00:00"},{"alias_kind":"arxiv_version","alias_value":"2105.12031v2","created_at":"2026-07-05T05:34:13.345717+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2105.12031","created_at":"2026-07-05T05:34:13.345717+00:00"},{"alias_kind":"pith_short_12","alias_value":"ANSIUPLDE5HR","created_at":"2026-07-05T05:34:13.345717+00:00"},{"alias_kind":"pith_short_16","alias_value":"ANSIUPLDE5HRIPSR","created_at":"2026-07-05T05:34:13.345717+00:00"},{"alias_kind":"pith_short_8","alias_value":"ANSIUPLD","created_at":"2026-07-05T05:34:13.345717+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/ANSIUPLDE5HRIPSRIJV5AYD436","json":"https://pith.science/pith/ANSIUPLDE5HRIPSRIJV5AYD436.json","graph_json":"https://pith.science/api/pith-number/ANSIUPLDE5HRIPSRIJV5AYD436/graph.json","events_json":"https://pith.science/api/pith-number/ANSIUPLDE5HRIPSRIJV5AYD436/events.json","paper":"https://pith.science/paper/ANSIUPLD"},"agent_actions":{"view_html":"https://pith.science/pith/ANSIUPLDE5HRIPSRIJV5AYD436","download_json":"https://pith.science/pith/ANSIUPLDE5HRIPSRIJV5AYD436.json","view_paper":"https://pith.science/paper/ANSIUPLD","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2105.12031&json=true","fetch_graph":"https://pith.science/api/pith-number/ANSIUPLDE5HRIPSRIJV5AYD436/graph.json","fetch_events":"https://pith.science/api/pith-number/ANSIUPLDE5HRIPSRIJV5AYD436/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/ANSIUPLDE5HRIPSRIJV5AYD436/action/timestamp_anchor","attest_storage":"https://pith.science/pith/ANSIUPLDE5HRIPSRIJV5AYD436/action/storage_attestation","attest_author":"https://pith.science/pith/ANSIUPLDE5HRIPSRIJV5AYD436/action/author_attestation","sign_citation":"https://pith.science/pith/ANSIUPLDE5HRIPSRIJV5AYD436/action/citation_signature","submit_replication":"https://pith.science/pith/ANSIUPLDE5HRIPSRIJV5AYD436/action/replication_record"}},"created_at":"2026-07-05T05:34:13.345717+00:00","updated_at":"2026-07-05T05:34:13.345717+00:00"}