# A Hierarchical Architecture for Human-Robot Cooperation Processes

arXiv: https://arxiv.org/abs/2009.02807 · HTML: https://mlsanity.com/paper/2009.02807/

## Key facts

- Cited by 12 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 6 Sep 2020.

## Built on by (most cited first, 12 of 12)

- [A Survey of Optimization-based Task and Motion Planning: From Classical To Learning Approaches](https://mlsanity.com/paper/2404.02817/) (2024)
- [A Framework for Neurosymbolic Robot Action Planning using Large Language Models](https://mlsanity.com/paper/2303.00438/) (2023)
- [Optimal task and motion planning and execution for human-robot multi-agent systems in dynamic environments](https://mlsanity.com/paper/2303.14874/) (2023)
- [Task Allocation for Multi-Robot Task and Motion Planning: a case for Object Picking in Cluttered Workspaces](https://mlsanity.com/paper/2110.04089/) (2021)
- [An Integrated Dynamic Method for Allocating Roles and Planning Tasks for Mixed Human-Robot Teams](https://mlsanity.com/paper/2105.12031/) (2021)
- [A Task and Motion Planning Framework Using Iteratively Deepened AND/OR Graph Networks](https://mlsanity.com/paper/2503.07700/) (2025)
- [Achieving Scalable Robot Autonomy via neurosymbolic planning using lightweight local LLM](https://mlsanity.com/paper/2505.08492/) (2025)
- [Dynamic Human-Robot Role Allocation based on Human Ergonomics Risk Prediction and Robot Actions Adaptation](https://mlsanity.com/paper/2111.03630/) (2021)
- [A Unified Architecture for Dynamic Role Allocation and Collaborative Task Planning in Mixed Human-Robot Teams](https://mlsanity.com/paper/2301.08038/) (2023)
- [Intuitive Programming, Adaptive Task Planning, and Dynamic Role Allocation in Human-Robot Collaboration](https://mlsanity.com/paper/2511.08732/) (2025)
- [Formalising Natural Language Quantifiers for Human-Robot Interactions](https://mlsanity.com/paper/2308.13192/) (2023)
- [An Epistemic Human-Aware Task Planner which Anticipates Human Beliefs and Decisions](https://mlsanity.com/paper/2409.18545/) (2024)

## Abstract (arXiv)

In this paper we propose FlexHRC+, a hierarchical human-robot cooperation architecture designed to provide collaborative robots with an extended degree of autonomy when supporting human operators in high-variability shop-floor tasks. The architecture encompasses three levels, namely for perception, representation, and action. Building up on previous work, here we focus on (i) an in-the-loop decision making process for the operations of collaborative robots coping with the variability of actions carried out by human operators, and (ii) the representation level, integrating a hierarchical AND/OR graph whose online behaviour is formally specified using First Order Logic. The architecture is accompanied by experiments including collaborative furniture assembly and object positioning tasks.