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Service robots are complex, heterogeneous, software intensive systems built from components. Recent robotics research trends mainly address isolated capabilities on functional level. Non-functional properties, such as responsiveness or…
With the increasing prevalence and diversity of robots interacting in the real world, there is need for flexible, on-the-fly planning and cooperation. Large Language Models are starting to be explored in a multimodal setup for…
In real-world control applications, actuator constraints and output constraints (specifically in tracking problems) are inherent and critical to ensuring safe and reliable operation. However, generally, control strategies often neglect…
Effective coordination is the key to successful agile teams. They rely on frequent interactions and mutual adjustment to manage dependencies between activities, which traditionally has been solved by co-locating the team. As the world is…
Shared control, which combines human expertise with autonomous assistance, is critical for effective teleoperation in complex environments. While recent advances in haptic-guided teleoperation have shown promise, they are often limited to…
This paper demonstrates the groundwork for the structure and nature of Human-Robot Cognitive Coupling.The human mind is best at associating objects, while digital devices can only compare. Successful communication between robot and human…
In collaborative robotic cells, a human operator and a robot share the workspace in order to execute a common job, consisting of a set of tasks. A proper allocation and scheduling of the tasks for the human and for the robot is crucial for…
Humans and animals developed a sophisticated motor control apparatus and there is much evidence that it has a modular structure. The modularity offers a range of benefits, e.g. ability to learn dissociable motion styles without interference…
The Internet of Things (IoT) will be a main data generation infrastructure for achieving better system intelligence. This paper considers the design and implementation of a practical privacy-preserving collaborative learning scheme, in…
Human-robot interaction can be divided into two categories based on the physical distance between the human and robot: remote and proximal. In proximal interaction, the human and robot often engage in close coordination; in remote…
In this paper, we consider a first step to bridge a gap in coordinating task planning robots. Specifically, we study the automatic construction of languages that are maximally flexible while being sufficiently explicative for coordination.…
Task and motion planning represents a powerful set of hybrid planning methods that combine reasoning over discrete task domains and continuous motion generation. Traditional reasoning necessitates task domain models and enough information…
Because of the importance of object oriented methodologies, the research in developing new measure for object oriented system development is getting increased focus. The most of the metrics need to find the interactions between the objects…
Because of the importance of object oriented methodologies, the research in developing new measure for object oriented system development is getting increased focus. The most of the metrics need to find the interactions between the objects…
Coordination mechanisms aim to mitigate the impact of selfishness when scheduling jobs to different machines. Such a mechanism defines a scheduling policy within each machine and naturally induces a game among the selfish job owners. The…
We initiate the study of a quantity that we call coordination complexity. In a distributed optimization problem, the information defining a problem instance is distributed among $n$ parties, who need to each choose an action, which jointly…
Soft robotics has advanced rapidly, yet its control methods remain fragmented: different morphologies and actuation schemes still require task-specific controllers, hindering theoretical integration and large-scale deployment. A generic…
Multi-robot assembly systems are becoming increasingly appealing in manufacturing due to their ability to automatically, flexibly, and quickly construct desired structural designs. However, effectively planning for these systems in a manner…
Formal coordination mechanisms are of growing importance as human-based service delivery becomes more globalized and informal mechanisms are no longer effective. Further it is becoming apparent that business environments, communication…
We present a control framework that enables humanoid robots to perform collaborative transportation tasks with a human partner. The framework supports both translational and rotational motions, which are fundamental to co-transport…