  The requirements of modern production systems together with more advanced
robotic technologies have fostered the integration of teams comprising humans
and autonomous robots. However, along with the potential benefits also comes
the question of how to effectively handle these teams considering the different
characteristics of the involved agents. For this reason, this paper presents a
framework for task allocation in a human multi-robot collaborative scenario.
The proposed solution combines an optimal offline allocation with an online
reallocation strategy which accounts for inaccuracies of the offline plan
and/or unforeseen events, human subjective preferences and cost of switching
from one task to another so as to increase human satisfaction and team
efficiency. Experiments are presented for the case of two manipulators
cooperating with a human operator for performing a box filling task.
