Related papers: Generalized Shared Control versus Classical Shared…
Several interesting problems in multi-robot systems can be cast in the framework of distributed optimization. Examples include multi-robot task allocation, vehicle routing, target protection, and surveillance. While the theoretical analysis…
As human-robot collaboration is becoming more widespread, there is a need for a more natural way of communicating with the robot. This includes combining data from several modalities together with the context of the situation and background…
Swarm robotics is a study of simple robots that exhibit complex behaviour only by interacting locally with other robots and their environment. The control in swarm robotics is mainly distributed whereas centralised control is widely used in…
Distributed optimization consists of multiple computation nodes working together to minimize a common objective function through local computation iterations and network-constrained communication steps. In the context of robotics,…
Learning has propelled the cutting edge of performance in robotic control to new heights, allowing robots to operate with high performance in conditions that were previously unimaginable. The majority of the work, however, assumes that the…
Shared autonomy is a promising paradigm in robotic systems, particularly within the maritime domain, where complex, high-risk, and uncertain environments necessitate effective human-robot collaboration. This paper investigates the…
Many robotic tasks, such as human-robot interactions or the handling of fragile objects, require tight control and limitation of appearing forces and moments alongside sensible motion control to achieve safe yet high-performance operation.…
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…
Advanced driver assistance systems have successfully reduced drivers' workloads and increased safety. On the other hand, the excessive use of such systems can impede the development of driving skills. However, there exist collaborative…
Teleoperation has emerged as an alternative solution to fully-autonomous systems for achieving human-level capabilities on humanoids. Specifically, teleoperation with whole-body control is a promising hands-free strategy to command…
The deployment of robots in industrial and civil scenarios is a viable solution to protect operators from danger and hazards. Shared autonomy is paramount to enable remote control of complex systems such as legged robots, allowing the…
To extend the realm of application of the well known controller design technique of interconnection and damping assignment passivity-based control (IDA-PBC) of mechanical systems two modifications to the standard method are presented in…
In this study, we propose a shared control method for teleoperated mobile robots using brain-machine interfaces (BMI). The control commands generated through BMI for robot operation face issues of low input frequency, discreteness, and…
This paper presents a novel, safe control architecture (SCA) for controlling an important class of systems: safety-critical systems. Ensuring the safety of control decisions has always been a challenge in automatic control. The proposed SCA…
Centralized multimodal learning commonly compresses language, acoustic, and visual signals into a single fused representation for prediction. While effective, this paradigm suffers from two limitations: modality dominance, where…
It is widely acknowledged that drivers should remain in the control loop of automated vehicles before they completely meet real-world operational conditions. This paper introduces an `indirect shared control' scheme for steer-by-wire…
Modeling mixed-traffic motion and interactions is crucial to assess safety, efficiency, and feasibility of future urban areas. The lack of traffic regulations, diverse transport modes, and the dynamic nature of mixed-traffic zones like…
Subsystems that are coupled due to dynamics and costs arise naturally in various communication applications. In many such applications the control actions are shared between different control stations giving rise to a \emph{control sharing}…
This paper proposes a dynamic game formulation for cooperative human-robot navigation in shared workspaces with obstacles, where the human and robot jointly satisfy shared safety constraints while pursuing a common task. A key contribution…
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…