Related papers: Setting Up the Beam for Human-Centered Service Tas…
Task And Motion Planning (TAMP) is the problem of finding a solution to an automated planning problem that includes discrete actions executable by low-level continuous motions. This field is gaining increasing interest within the robotics…
MATSim (Multi-Agent Transport Simulation Toolkit) is an open source large-scale agent-based transportation planning project applied to various areas like road transport, public transport, freight transport, regional evacuation, etc. BEAM…
Assistive robotic systems endeavour to support those with movement disabilities, enabling them to move again and regain functionality. Main issue with these systems is the complexity of their low-level control, and how to translate this to…
Human safety has always been the main priority when working near an industrial robot. With the rise of Human-Robot Collaborative environments, physical barriers to avoiding collisions have been disappearing, increasing the risk of accidents…
A remote collaboration setup allows an expert to instruct a remotely located novice user to help them with a task. Advanced solutions exist in the field of remote guidance and telemanipulation, however, we lack a device that combines these…
Recent progress in mixed reality (MR) and robotics is enabling increasingly sophisticated forms of human-robot collaboration. Building on these developments, we introduce a novel MR framework that allows multiple quadruped robots to operate…
In this paper, we present a user-friendly planetary rover's control system for low latency surface telerobotic. Thanks to the proposed system, an operator can comfortably give commands through the control base station to a rover using…
The past few years have seen rapid progress in the development of service robots. Universities and companies alike have launched major research efforts toward the deployment of ambitious systems designed to aid human operators performing a…
This work presents a new iteration of the Human Navigation Simulator (HuNavSim), a novel open-source tool for the simulation of different human-agent navigation behaviors in scenarios with mobile robots. The tool, programmed under the ROS 2…
This paper proposes a Priority-driven Accelerator Access Management (PAAM) framework for multi-process robotic applications built on top of the Robot Operating System (ROS) 2 middleware platform. The framework addresses the issue of…
End-effector based assistive robots face persistent challenges in generating smooth and robust trajectories when controlled by human's noisy and unreliable biosignals such as muscle activities and brainwaves. The produced endpoint…
With the aim of enabling robots to cooperate with humans, carry out human-like tasks, or navigate among humans, we need to ensure that they are equipped with the ability to comprehend human behaviors and use the extracted knowledge for…
Deep learning's success in perception, natural language processing, etc. inspires hopes for advancements in autonomous robotics. However, real-world robotics face challenges like variability, high-dimensional state spaces, non-linear…
This paper explores the estimation of user attention in the setting of a cooperative handheld robot: a robot designed to behave as a handheld tool but that has levels of task knowledge. We use a tool-mounted gaze tracking system, which,…
Research on sixth-generation (6G) integrated sensing and communication (ISAC) increasingly depends on multimodal datasets. These datasets need to jointly characterize wireless propagation, onboard sensing, and platform mobility. Existing…
Lengthy setup processes that require robotics expertise remain a major barrier to deploying robots for tasks involving high product variability and small batch sizes. As a result, collaborative robots, despite their advanced sensing and…
Spatial computing -- the ability of devices to be aware of their surroundings and to represent this digitally -- offers novel capabilities in human-robot interaction. In particular, the combination of spatial computing and egocentric…
Most existing robot simulators prioritize rigid-body dynamics and photorealistic rendering, but largely neglect the thermally and optically complex phenomena that characterize real-world fire environments. For robots envisioned as future…
The advantage of modular self-reconfigurable robot systems is their flexibility, but this advantage can only be realized if appropriate configurations (shapes) and behaviors (controlling programs) can be selected for a given task. In this…
The development of autonomous robotic systems offers significant potential for performing complex tasks with precision and consistency. Recent advances in Artificial Intelligence (AI) have enabled more capable intelligent automation…