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Robot and human path planning is essential for the implementation of accurate, safe and effective Human-Robot Collaboration (HRC) systems, making sure to avoid incidents in the workplace, as well as increase productivity and work quality thanks to the collaboration between workers and robots.

In this training session on motion planning in Human-Robot Collaboration of the Sharework project, we will review state-of-the-art approaches for robot planning and scheduling, and present advances in the field with great potential to contribute to a widespread uptake of high-payload collaborative industrial robots in assembly shopfloors. As part of the training activity, a hierarchical motion planning framework to plan and execute human-aware movements and research on human motion prediction applicable into robot motion planning will be presented.