\documentclass[10pt]{article}

\usepackage{fullpage}
\usepackage{CJKutf8} 
\usepackage[utf8]{inputenc}
\usepackage{setspace}
\usepackage{parskip}
\usepackage{titlesec}
\usepackage[section]{placeins}
\usepackage{xcolor}
\usepackage{breakcites}
\usepackage{lineno}
\usepackage{hyphenat}





\PassOptionsToPackage{hyphens}{url}
\usepackage[colorlinks = true,
            linkcolor = blue,
            urlcolor  = blue,
            citecolor = blue,
            anchorcolor = blue]{hyperref}
\usepackage{etoolbox}
\makeatletter
\patchcmd\@combinedblfloats{\box\@outputbox}{\unvbox\@outputbox}{}{%
  \errmessage{\noexpand\@combinedblfloats could not be patched}%
}%
\makeatother


\usepackage{natbib}




\renewenvironment{abstract}
  {{\bfseries\noindent{\abstractname}\par\nobreak}\footnotesize}
  {\bigskip}

\titlespacing{\section}{0pt}{*3}{*1}
\titlespacing{\subsection}{0pt}{*2}{*0.5}
\titlespacing{\subsubsection}{0pt}{*1.5}{0pt}


\usepackage{authblk}


\usepackage{graphicx}
\usepackage[space]{grffile}
\usepackage{latexsym}
\usepackage{textcomp}
\usepackage{longtable}
\usepackage{tabulary}
\usepackage{booktabs,array,multirow}
\usepackage{amsfonts,amsmath,amssymb}
\providecommand\citet{\cite}
\providecommand\citep{\cite}
\providecommand\citealt{\cite}
% You can conditionalize code for latexml or normal latex using this.
\newif\iflatexml\latexmlfalse
\providecommand{\tightlist}{\setlength{\itemsep}{0pt}\setlength{\parskip}{0pt}}%

\AtBeginDocument{\DeclareGraphicsExtensions{.pdf,.PDF,.eps,.EPS,.png,.PNG,.tif,.TIF,.jpg,.JPG,.jpeg,.JPEG}}

\usepackage[utf8]{inputenc}
\usepackage[english]{babel}



\usepackage{float}








\begin{document}
\begin{CJK}{UTF8}{gbsn}

\title{Learning and planning for optimal synergistic human-robot coordination in manufacturing contexts}



\author[1]{Samuele Sandrini}%
\author[1]{Marco Faroni}%
\author[1]{Nicola Pedrocchi}%
\affil[1]{Affiliation not available}%


\vspace{-1em}



  
  \date{May 06, 2026}


\begingroup
\let\center\flushleft
\let\endcenter\endflushleft
\maketitle
\endgroup





\selectlanguage{english}
\begin{abstract}
Modern hybrid robot cells leverage heterogeneous agents to provide agile
production solutions. Effective agent coordination is crucial to avoid
inefficiencies and potential hazards for human operators working among
robots. This paper proposes a new human-aware task allocation and
scheduling model based on Mixed Integer Non-Linear Programming (MINLP)
to optimize efficiency and safety during task planning, scheduling, and
allocation. The approach introduces a synergy index that encodes the
coupling effects between pairs of tasks executed in parallel by the
agents. These terms are learned from previous process executions by
means of a Bayesian linear estimation. The task planning model is
enhanced by the knowledge of synergy terms to adapt the nominal duration
of the plan to consider the effect of the operator's presence.
Simulations and experimental results demonstrate the effectiveness of
the proposed method in obtaining a proactive human-aware solution
starting from the task planning level. The proposed model reduces
process execution time and achieves solutions with less agent
interference, more considerable human-robot distance, and, thus, safer
for agents.%
\end{abstract}%



\sloppy




\selectlanguage{english}
\FloatBarrier
\end{CJK}\end{document}

