[2603.03701] UrbanHuRo: A Two-Layer Human-Robot Collaboration Framework for the Joint Optimization of Heterogeneous Urban Services

Computer Science > Robotics arXiv:2603.03701 (cs) [Submitted on 4 Mar 2026] Title:UrbanHuRo: A Two-Layer Human-Robot Collaboration Framework for the Joint Optimization of Heterogeneous Urban Services Authors:Tonmoy Dey, Lin Jiang, Zheng Dong, Guang Wang View a PDF of the paper titled UrbanHuRo: A Two-Layer Human-Robot Collaboration Framework for the Joint Optimization of Heterogeneous Urban Services, by Tonmoy Dey and 3 other authors View PDF HTML (experimental) Abstract:In the vision of smart cities, technologies are being developed to enhance the efficiency of urban services and improve residents' quality of life. However, most existing research focuses on optimizing individual services in isolation, without adequately considering reciprocal interactions among heterogeneous urban services that could yield higher efficiency and improved resource utilization. For example, human couriers could collect traffic and air quality data along their delivery routes, while sensing robots could assist with on-demand delivery during peak hours, enhancing both sensing coverage and delivery efficiency. However, the joint optimization of different urban services is challenging due to potentially conflicting objectives and the need for real-time coordination in dynamic environments. In this paper, we propose UrbanHuRo, a two-layer human-robot collaboration framework for joint optimization of heterogeneous urban services, demonstrated through crowdsourced delivery and urban sensing. UrbanH...