Related papers: Pedestrian-Robot Interaction Experiments in an Exi…
The aim of the Hermes project is the development of a computer simulation based on evacuation assistant to support security services in case of emergency in complex buildings and thus to improve safety at mass events. One goal of the…
Predicting pedestrians' trajectories is a crucial capability for autonomous vehicles' safe navigation, especially in spaces shared with pedestrians. Pedestrian motion in shared spaces is influenced by both the presence of vehicles and other…
This paper proposes a control method to address the physical Human-Robot Interaction (pHRI) challenge in the context of hierarchical tasks. A common approach to managing hierarchical tasks is Hierarchical Quadratic Programming (HQP), which,…
Integrating robots into populated environments is a complex challenge that requires an understanding of human social dynamics. In this work, we propose to model social motion forecasting in a shared human-robot representation space, which…
Robotic vision for human-robot interaction and collaboration is a critical process for robots to collect and interpret detailed information related to human actions, goals, and preferences, enabling robots to provide more useful services to…
This study presents an initial framework for distinguishing group and single pedestrians based on real-world trajectory data, with the aim of analyzing their differences in space utilization and emergent behavioral patterns. By segmenting…
It is challenging for a mobile robot to navigate through human crowds. Existing approaches usually assume that pedestrians follow a predefined collision avoidance strategy, like social force model (SFM) or optimal reciprocal collision…
As of today, robots exhibit impressive agility but also pose potential hazards to humans using/collaborating with them. Consequently, safety is considered the most paramount factor in human-robot interaction (HRI). This paper presents a…
During human-robot interaction (HRI), we want the robot to understand us, and we want to intuitively understand the robot. In order to communicate with and understand the robot, we can leverage interactions, where the human and robot…
For safe navigation around pedestrians, automated vehicles (AVs) need to plan their motion by accurately predicting pedestrians trajectories over long time horizons. Current approaches to AV motion planning around crosswalks predict only…
In this context, a major focus of this thesis is on unintentional collisions, where a straight goal is to eliminate injury from users and passerby's via realtime sensing and control systems. A less obvious focus is to combine collision…
A better understanding of interactive pedestrian behavior in critical traffic situations is essential for the development of enhanced pedestrian safety systems. Real-world traffic observations play a decisive role in this, since they…
In the field of autonomous driving research, the use of immersive virtual reality (VR) techniques is widespread to enable a variety of studies under safe and controlled conditions. However, this methodology is only valid and consistent if…
To address the global challenge of population aging, our goal is to enhance successful aging through the introduction of robots capable of assisting in daily physical activities and promoting light exercises, which would enhance the…
How can multiple humans interact with multiple robots? The goal of our research is to create an effective interface that allows multiple operators to collaboratively control teams of robots in complex tasks. In this paper, we focus on a key…
We design and develop a new shared Augmented Reality (AR) workspace for Human-Robot Interaction (HRI), which establishes a bi-directional communication between human agents and robots. In a prototype system, the shared AR workspace enables…
The motion of robots and objects in our world is often highly dependent upon contact. When contact is expected but does not occur or when contact is not expected but does occur, robot behavior diverges from plan, often disastrously. This…
Swarms of robots will revolutionize many industrial applications, from targeted material delivery to precision farming. Controlling the motion and behavior of these swarms presents unique challenges for human operators, who cannot yet…
Autonomous swarms of robots can bring robustness, scalability and adaptability to safety-critical tasks such as search and rescue but their application is still very limited. Using semi-autonomous swarms with human control can bring robot…
Effective close-proximity human-robot interaction (CP-HRI) requires robots to be able to both efficiently perform tasks as well as adapt to human behavior and preferences. However, this ability is mediated by many, sometimes competing,…