Related papers: Viewing Robot Navigation in Human Environment as a…
Intelligent robots and machines are becoming pervasive in human populated environments. A desirable capability of these agents is to respond to goal-oriented commands by autonomously constructing task plans. However, such autonomy can add…
This paper proposes a lightweight systematic solution for multi-robot coordinated navigation with decentralized cooperative perception. An information flow is first created to facilitate real-time observation sharing over unreliable ad-hoc…
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…
Interacting with human agents in complex scenarios presents a significant challenge for robotic navigation, particularly in environments that necessitate both collision avoidance and collaborative interaction, such as indoor spaces. Unlike…
We present a motion planning algorithm to compute collision-free and smooth trajectories for high-DOF robots interacting with humans in a shared workspace. Our approach uses offline learning of human actions along with temporal coherence to…
We often assume that robots which collaborate with humans should behave in ways that are transparent (e.g., legible, explainable). These transparent robots intentionally choose actions that convey their internal state to nearby humans: for…
As robotic technology advances, the barriers to the coexistence of humans and robots are slowly coming down. Application domains like elderly care, collaborative manufacturing, collaborative manipulation, etc., are considered the need of…
As humans, we have a remarkable capacity for reading the characteristics of objects only by observing how another person carries them. Indeed, how we perform our actions naturally embeds information on the item features. Collaborative…
We present Habitat 3.0: a simulation platform for studying collaborative human-robot tasks in home environments. Habitat 3.0 offers contributions across three dimensions: (1) Accurate humanoid simulation: addressing challenges in modeling…
Robots that navigate through human crowds need to be able to plan safe, efficient, and human predictable trajectories. This is a particularly challenging problem as it requires the robot to predict future human trajectories within a crowd…
Trajectory Planning is a crucial word in Modern & Advanced Robotics. It's a way of generating a smooth and feasible path for the robot to follow over time. The process primarily takes several factors to generate the path, such as velocity,…
In this paper, we consider the problem of designing collision-free, dynamically feasible, and socially-aware trajectories for robots operating in environments populated by humans. We define trajectories to be social-aware if they do not…
Remotely operated vehicles (ROVs) have drawn much attention to underwater tasks, such as the inspection and maintenance of infrastructure. The workload of ROV operators tends to be high, even for the skilled ones. Therefore, assistance…
Cooperation among humans makes it easy to execute tasks and navigate seamlessly even in unknown scenarios. With our individual knowledge and collective cognition skills, we can reason about and perform well in unforeseen situations and…
We consider the task of underwater robot navigation for the purpose of collecting scientifically relevant video data for environmental monitoring. The majority of field robots that currently perform monitoring tasks in unstructured natural…
The increasing presence of robots alongside humans, such as in human-robot teams in manufacturing, gives rise to research questions about the kind of behaviors people prefer in their robot counterparts. We term actions that support…
Tactile sensors have been introduced to a wide range of robotic tasks such as robot manipulation to mimic the sense of human touch. However, there has only been a few works that integrate tactile sensing into robot navigation. This paper…
In cooperative training, humans within a team coordinate on complex tasks, building mental models of their teammates and learning to adapt to teammates' actions in real-time. To reduce the often prohibitive scheduling constraints associated…
Local planning is an optimization process within a mobile robot navigation stack that searches for the best velocity vector, given the robot and environment state. Depending on how the optimization criteria and constraints are defined, some…
Mobile robots are traditionally developed to be reactive and avoid collisions with surrounding humans, often moving in unnatural ways without following social protocols, forcing people to behave very differently from human-human interaction…