Human-Aware RRT-Connect: Motion Planning for Safe Human-Robot Collaboration

Recent advances in Rapidly-exploring random tree: A review

“…RRT-connect [ 27 , 28 ] also known as bidirectional RRT (B-RRT), introduces a dual-tree expansion mechanism that simultaneously expands the random tree with the initial and goal points as root nodes, respectively, Rajendran et al [ 29 ] present RRT-Connect that incorporates human awareness, and paths generated by the algorithm are as visible as possible to humans, making it easier for human-robot collaboration. Chen et al [ 30 ] fuse RRT-Connect and Bezier curves and apply them to a cooperative assembly system with two robotic arms composed of six degrees of freedom, effectively optimizing the trajectories of the dual robotic arms.…”

Task allocation and planning for product disassembly with human–robot collaboration

“…These methods randomly generate samples in the configuration space and connect feasible configurations to create a complete trajectory for the robot. In the context of collaborative tasks, [164] proposed a human-aware RRT-Connect planner to generate manipulator motions that prioritize human safety. Additionally, [165] introduced target directional node extension to enhance the sampling speed of the RRT algorithm, enabling the robot to dynamically respond to human motion.…”