Related papers: A Unified Approach to 3 Basic Challenges in Shared…

Shared autonomy provides a framework where a human and an automated system, such as a robot, jointly control the system's behavior, enabling an effective solution for various applications, including human-robot interaction. However, a…

Shared autonomy methods, where a human operator and a robot arm work together, have enabled robots to complete a range of complex and highly variable tasks. Existing work primarily focuses on one human sharing autonomy with a single robot.…

We propose developing an integrated system to keep autonomous unmanned aircraft safely separated and behave as expected in conjunction with manned traffic. The main goal is to achieve safe manned-unmanned vehicle teaming to improve system…

Shared autonomy refers to approaches for enabling an autonomous agent to collaborate with a human with the aim of improving human performance. However, besides improving performance, it may often also be beneficial that the agent…

Advances in autonomy offer the potential for dramatic positive outcomes in a number of domains, yet enabling their safe deployment remains an open problem. This work's motivating question is: In safety-critical settings, can we avoid the…

Shared autonomy allows for combining the global planning capabilities of a human operator with the strengths of a robot such as repeatability and accurate control. In a real-time teleoperation setting, one possibility for shared autonomy is…

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…

The potential benefits of autonomous systems have been driving intensive development of such systems, and of supporting tools and methodologies. However, there are still major issues to be dealt with before such development becomes…

Shared control schemes allow a human driver to work with an automated driving agent in driver-vehicle systems while retaining the driver's abilities to control. The human driver, as an essential agent in the driver-vehicle shared control…

Real-time collaboration with humans poses challenges due to the different behavior patterns of humans resulting from diverse physical constraints. Existing works typically focus on learning safety constraints for collaboration, or how to…

Autonomous robots often encounter challenging situations where their control policies fail and an expert human operator must briefly intervene, e.g., through teleoperation. In settings where multiple robots act in separate environments, a…

In this paper, we consider scheduling problems that arise in connected and autonomous vehicle systems. For four variants of such problems, mathematical models and solution algorithms are presented. In particular, three polynomial algorithms…

In this paper, we aim to achieve a human-robot work balance by implementing shared autonomy through a web interface. Shared autonomy integrates user input with the autonomous capabilities of the robot and therefore increases the overall…

Manufacturing requires consistent production rate and task success for sustainable operation. Some manufacturing tasks require a semi-autonomous approach, exploiting the combination of human adaptability and machine precision and speed, to…

Maximizing the utility of human-robot teams in disaster response and search and rescue (SAR) missions remains to be a challenging problem. This is due to the dynamic, uncertain nature of the environment and the variability in cognitive…

Despite the advances made in artificial intelligence, software agents, and robotics, there is little we see today that we can truly call a fully autonomous system. We conjecture that the main inhibitor for advancing autonomy is lack of…

This invited paper discusses a new but important problem, supervised autonomy, in the context of robotics. The paper defines supervised autonomy and compares the supervised autonomy with robotic teleoperation and robotic full autonomy.…

High levels of robot autonomy are a common goal, but there is a significant risk that the greater the autonomy of the robot the lesser the autonomy of the human working with the robot. For vulnerable populations like older adults who…

Robotic agents that share autonomy with a human should leverage human domain knowledge and account for their preferences when completing a task. This extra knowledge can dramatically improve plan efficiency and user-satisfaction, but these…

We explore the probabilistic foundations of shared control in complex dynamic environments. In order to do this, we formulate shared control as a random process and describe the joint distribution that governs its behavior. For…