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Virtual borders are employed to allow humans the interactive and flexible restriction of their mobile robots' workspaces in human-centered environments, e.g. to exclude privacy zones from the workspace or to indicate certain areas for…
We address the problem of interactively controlling the workspace of a mobile robot to ensure a human-aware navigation. This is especially of relevance for non-expert users living in human-robot shared spaces, e.g. home environments, since…
The increasing number of robots in home environments leads to an emerging coexistence between humans and robots. Robots undertake common tasks and support the residents in their everyday life. People appreciate the presence of robots in…
In this paper, we investigate the utility of head-mounted display (HMD) interfaces for navigation of mobile robots. We focus on the selection of waypoint positions for the robot, whilst maintaining an egocentric view of the robot's…
Robotics has shown significant potential in assisting people with disabilities to enhance their independence and involvement in daily activities. Indeed, a societal long-term impact is expected in home-care assistance with the deployment of…
This work introduces a solution to enhance human-robot interaction over limited wireless connectivity. The goal is toenable remote control of a robot through a virtual reality (VR)interface, ensuring a smooth transition to autonomous mode…
We present a new interface for controlling a navigation robot in novel environments using coordinated gesture and language. We use a TurtleBot3 robot with a LIDAR and a camera, an embodied simulation of what the robot has encountered while…
Safety is a fundamental requirement in any human-robot collaboration scenario. To ensure the safety of users for such scenarios, we propose a novel Virtual Barrier system facilitated by an augmented reality interface. Our system provides…
Multi-robot rendezvous and exploration are fundamental challenges in the domain of mobile robotic systems. This paper addresses multi-robot rendezvous within an initially unknown environment where communication is only possible after the…
The ability to automatically encircle boundaries with mobile robots is crucial for tasks such as border tracking and object enclosing. Previous research has primarily focused on regular boundaries, often assuming that their geometric…
Object handover is a common form of interaction that is widely present in collaborative tasks. However, achieving it efficiently remains a challenge. We address the problem of ensuring resilient robotic actions that can adapt to complex…
Companies all over the world started to produce and sell telepresence robots in the last decade. Users of these robots have to plan their way to avoid collisions and control the speed of the robot to move it to destination point. This…
As robots become increasingly prominent in diverse industrial settings, the desire for an accessible and reliable system has correspondingly increased. Yet, the task of meaningfully assessing the feasibility of introducing a new robotic…
While there is no replacement for the learned expertise, devotion, and social benefits of a guide dog, there are cases in which a robot navigation assistant could be helpful for individuals with blindness or low vision (BLV). This study…
As collaborative robots enter industrial shop floors, logistics, and manufacturing, rapid and flexible evaluation of human-machine interaction has become more important. The availability of consumer headsets for virtual and augmented…
This paper focuses on the motion planning for mobile robots in 3D, which are modelled by 6-DOF rigid body systems with nonholonomic kinematics constraints. We not only specify the target position, but also bring in the requirement of the…
Effective physical human-robot interaction requires systems that are not only adaptable to user preferences but also transparent about their actions. This paper introduces BRIDGE, a system for bidirectional human-robot communication in…
Virtual reality (VR) interfaces for robots provide a three-dimensional (3D) view of the robot in its environment, which allows people to better plan complex robot movements in tight or cluttered spaces. In our prior work, we created a VR…
[...] With the TelePhysicalOperation interface, the user can teleoperate the different capabilities of a robot (e.g., single/double arm manipulation, wheel/leg locomotion) by applying virtual forces on selected robot body parts. This…
In this paper, we explore the design and use of conversational telepresence robots to help homebound older adults interact with the external world. An initial needfinding study (N=8) using video vignettes revealed older adults' experiential…