Related papers: Inter-Robot Interactions in Multi-Robot Systems Us…
The effectiveness of human-robot interaction often hinges on the ability to cultivate engagement - a dynamic process of cognitive involvement that supports meaningful exchanges. Many existing definitions and models of engagement are either…
Many robot manipulation tasks require the robot to make and break contact with objects and surfaces. The dynamics of such changing-contact robot manipulation tasks are discontinuous when contact is made or broken, and continuous elsewhere.…
This research investigates strategies for multi-robot coordination in multi-human environments. It proposes a multi-objective learning-based coordination approach to addressing the problem of path planning, navigation, task scheduling, task…
Humanoid robots have apparently similar body structure like human beings. Due to their technical design, they are sharing the same workspace with humans. They are placed to clean things, to assist old age people, to entertain us and most…
Designing multi-agent robotic systems requires reasoning across tightly coupled decisions spanning heterogeneous domains, including robot design, fleet composition, and planning. Much effort has been devoted to isolated improvements in…
Due to the progress in artificial intelligence, it is important to understand how capable artificial agents should be used when interacting with humans, since high level authority and responsibility often remain with the human agent.…
This paper proposes an Interactive Inference Behavior Tree (IIBT) framework that integrates behavior trees (BTs) with active inference under the free energy principle for distributed multi-robot decision-making. The proposed IIBT node…
Effective robotic systems for long-horizon human-robot collaboration must adapt to a wide range of human partners, whose physical behavior, willingness to assist, and understanding of the robot's capabilities may change over time. This…
Multi-robot manipulation tasks involve various control entities that can be separated into dynamically independent parts. A typical example of such real-world tasks is dual-arm manipulation. Learning to naively solve such tasks with…
This paper introduces a multimethod framework for studying spatial and social dynamics in real-world group-agent interactions with socially interactive agents. Drawing on proxemics and bonding theories, the method combines subjective…
To achieve seamless human-robot interactions, robots need to intimately reason about complex interaction dynamics and future human behaviors within their motion planning process. However, there is a disconnect between state-of-the-art…
Humans engaged in collaborative activities are naturally able to convey their intentions to teammates through multi-modal communication, which is made up of explicit and implicit cues. Similarly, a more natural form of human-robot…
Multiple levels of safety measures are required by multiple interaction modes which collaborative robots need to perform industrial tasks with human co-workers. We develop three independent modules to account for safety in different types…
With momentum increasing in the use of social robots as long-term assistive and collaborative partners, humans developing social bonds with these artificial agents appears to be inevitable. In human-human dyads, social bonding plays a…
A robot system is designed as a set of embodied agents. An embodied agent is decomposed into cooperating subsystems. In our previous work activities of subsystems were defined by hierarchical finite state machines. With their states,…
Autonomous mobile service robots, like lawnmowers or cleaning robots, operating in human-populated environments need to reason about local human-human interactions to support safe and socially aware navigation while fulfilling their tasks.…
Addressing complex cooperative tasks in safety-critical environments poses significant challenges for multi-agent systems, especially under conditions of partial observability. We focus on a dynamic network bridging task, where agents must…
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…
The interface for the next generation of Unmanned Vehicle Systems should be an interface with multi-modal displays and input controls. Then, the role of the interface will not be restricted to be a support of the interactions between the…
A swarm robotic system consists of a team of robots performing cooperative tasks without any centralized coordination. In principle, swarms enable flexible and scalable solutions; however, designing individual control algorithms that can…