  An analytical model of Human-Robot (H-R) coordination is presented for a
Human-Robot system executing a collaborative task in which a high level of
synchronization among the agents is desired. The influencing parameters and
decision variables that affect the waiting time of the collaborating agents
were analyzed. The performance of the model was evaluated based on the costs of
the waiting times of each of the agents at the pre-defined spatial point of
handover. The model was tested for two cases of dynamic H-R coordination
scenarios. Results indicate that this analytical model can be used as a tool
for designing an H-R system that optimizes the agent waiting time thereby
increasing the joint-efficiency of the system and making coordination fluent
and natural.
