In this paper, a strategy to handle the human safety in a multi-robot scenario is devised. In the presented framework, it is foreseen that robots are in charge of performing any cooperative manipulation task which is parameterized by a proper task function. The devised architecture answers to the increasing demand of strict cooperation between humans and robots, since it equips a general multi-robot cell with the feature of making robots and human working together. The human safety is properly handled by defining a safety index which depends both on the relative position and velocity of the human operator and robots. Then, the multi-robot task trajectory is properly scaled in order to ensure that the human safety never falls below a given threshold which can be set in worst conditions according to a minimum allowed distance. Simulations results are presented in order to prove the effectiveness of the approach.

翻译：在本文中,设计了一种在多机器人情况下处理人的安全的战略;在介绍的框架中,预计机器人负责执行任何合作操作任务,并按适当的任务功能进行参数化。设计的结构是针对人类和机器人之间日益严格合作的需求而设计的,因为它装备了一个通用的多机器人细胞,其特点是使机器人和人类一起工作。通过界定一个既取决于人类操作者和机器人的相对位置和速度的安全指数来妥善处理人的安全。然后,对多机器人任务轨迹进行适当调整,以确保人类的安全不会低于某一阈值,而该阈值可以按照最起码允许的距离在最坏的条件下设定。模拟结果是为了证明这种方法的有效性。