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Many tasks, particularly those involving interaction with the environment, are characterized by high variability, making robotic autonomy difficult. One flexible solution is to introduce the input of a human with superior experience and…
Human-robot collaborative assembly systems enhance the efficiency and productivity of the workplace but may increase the workers' cognitive demand. This paper proposes an online and quantitative framework to assess the cognitive workload…
Evaluating the effectiveness and benefits of driver assistance systems is essential for improving the system performance. In this paper, we propose an efficient evaluation method for a semi-autonomous lane departure correction system. To…
Partial driving automation creates a tension: drivers remain legally responsible for vehicle behaviour, yet their active control is significantly reduced. This reduction undermines the engagement and sense of agency needed to intervene…
Lane changing and lane merging remains a challenging task for autonomous driving, due to the strong interaction between the controlled vehicle and the uncertain behavior of the surrounding traffic participants. The interaction induces a…
Action anticipation, intent prediction, and proactive behavior are all desirable characteristics for autonomous driving policies in interactive scenarios. Paramount, however, is ensuring safety on the road --- a key challenge in doing so is…
Connected automated vehicles (CAVs) possess the ability to communicate and coordinate with one another, enabling cooperative platooning that enhances both energy efficiency and traffic flow. However, during the initial stage of CAV…
Achieving fully autonomous driving with enhanced safety and efficiency relies on vehicle-to-everything cooperative perception, which enables vehicles to share perception data, thereby enhancing situational awareness and overcoming the…
Intersection management with mixed cooperative and non-cooperative vehicles is crucial in next-generation transportation systems. For fully non-cooperative systems, a minimax scheduling framework was established, while it is inefficient in…
A significant element of human cooperative intelligence lies in our ability to identify opportunities for fruitful collaboration; and conversely to recognise when the task at hand is better pursued alone. Research on flexible cooperation in…
The transition of control from autonomous systems to human drivers is critical in automated driving systems, particularly due to the out-of-the-loop (OOTL) circumstances that reduce driver readiness and increase reaction times. Existing…
This paper investigates the problem of cooperative tuning of multi-agent optimal control systems, where a network of agents (i.e. multiple coupled optimal control systems) adjusts parameters in their dynamics, objective functions, or…
Assistive robots enable people with disabilities to conduct everyday tasks on their own. However, these tasks can be complex, containing both coarse reaching motions and fine-grained manipulation. For example, when eating, not only does one…
Autonomous driving is among the most promising of upcoming traffic safety technologies. Prototypes of autonomous vehicles are already being tested on public streets today. However, while current prototypes prove the feasibility of truly…
The operation of groups of heavy-duty vehicles (HDVs) at a small inter-vehicular distance (known as platoon) allows to lower the overall aerodynamic drag and, therefore, to reduce fuel consumption and greenhouse gas emissions. However, due…
Ensuring human safety in collaborative robotics can compromise efficiency because traditional safety measures increase robot cycle time when human interaction is frequent. This paper proposes a safety-aware approach to mitigate efficiency…
Human emotion detection in automated vehicles helps to improve comfort and safety. Research in the automotive domain focuses a lot on sensing drivers' drowsiness and aggression. We present a new form of implicit driver-vehicle cooperation,…
Haptic guidance is a powerful technique to combine the strengths of humans and autonomous systems for teleoperation. The autonomous system can provide haptic cues to enable the operator to perform precise movements; the operator can…
With the development of autonomous driving, the improvement of autonomous driving technology for individual vehicles has reached the bottleneck. The advancement of vehicle-road cooperation autonomous driving technology can expand the…
This paper presents a distributed cascade Proportional Integral Derivate (DCPID) control algorithm for the connected and automated vehicle (CAV) platoon considering the heterogeneity of CAVs in terms of the inertial lag. Furthermore, a…