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This paper proposes a method for designing human-robot collaboration tasks and generating corresponding trajectories. The method uses high-level specifications, expressed as a Signal Temporal Logic (STL) formula, to automatically synthesize…
Practical adaptive control implementations where human pilots coexist in the loop are still uncommon, despite their success in handling uncertain dynamical systems. This is owing to their special nonlinear characteristics which lead to…
Cooperative table-carrying is a complex task due to the continuous nature of the action and state-spaces, multimodality of strategies, and the need for instantaneous adaptation to other agents. In this work, we present a method for…
This paper describes the initial steps towards the design of a robotic system that intends to perform actions autonomously in a naturalistic play environment. At the same time it aims for social human-robot interaction~(HRI), focusing on…
AI enabled chat bots have recently been put to use to answer customer service queries, however it is a common feedback of users that bots lack a personal touch and are often unable to understand the real intent of the user's question. To…
Socially aware robot navigation is a planning paradigm where the robot navigates in human environments and tries to adhere to social constraints while interacting with the humans in the scene. These navigation strategies were further…
Multi-agent systems can be extremely efficient when working concurrently and collaboratively, e.g., for transportation, maintenance, search and rescue. Coordination of such teams often involves two aspects: (i) selecting appropriate…
This paper describes a novel approach in human robot interaction driven by ergonomics. With a clear focus on optimising ergonomics, the approach proposed here continuously observes a human user's posture and by invoking appropriate…
Human autonomy and sense of agency are increasingly recognised as critical for user well-being, motivation, and the ethical deployment of robots in human-robot interaction (HRI). Given the rapid development of artificial intelligence, robot…
This paper develops a robotic manipulation planner for human-robot collaborative assembly. Unlike previous methods which study an independent and fully AI-equipped autonomous system, this paper explores the subtask distribution between a…
Numerical optimization has become a popular approach to plan smooth motion trajectories for robots. However, when sharing space with humans, balancing properly safety, comfort and efficiency still remains challenging. This is notably the…
In this paper we consider the problem of coordinating robotic systems with different kinematics, sensing and vision capabilities to achieve certain mission goals. An approach that makes use of a heterogeneous team of agents has several…
Effective human-AI collaboration for physical task completion has significant potential in both everyday activities and professional domains. AI agents equipped with informative guidance can enhance human performance, but evaluating such…
Humanoid robots are designed to operate in human centered environments where they execute a multitude of challenging tasks, each differing in complexity, resource requirements, and execution time. In such highly dynamic surroundings it is…
We investigate the problem of co-designing computation and communication in a multi-agent system (e.g. a sensor network or a multi-robot team). We consider the realistic setting where each agent acquires sensor data and is capable of local…
Employing a teleoperation system for gathering demonstrations offers the potential for more efficient learning of robot manipulation. However, teleoperating a robot arm equipped with a dexterous hand or gripper, via a teleoperation system…
There are many examples of cases where access to improved models of human behavior and cognition has allowed creation of robots which can better interact with humans, and not least in road vehicle automation this is a rapidly growing area…
Human-robot teaming offers great potential because of the opportunities to combine strengths of heterogeneous agents. However, one of the critical challenges in realizing an effective human-robot team is efficient information exchange -…
We study human-robot handovers in a naturalistic collaboration scenario, where a mobile manipulator robot assists a person during a crafting session by providing and retrieving objects used for wooden piece assembly (functional activities)…
In this paper, we introduce a novel conceptual model for a robot's behavioral adaptation in its long-term interaction with humans, integrating dynamic robot role adaptation with principles of flow experience from psychology. This…