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Human-machine interaction has been around for several decades now, with new applications emerging every day. One of the major goals that remain to be achieved is designing an interaction similar to how a human interacts with another human.…
Teleoperation is increasingly recognized as a viable solution for deploying robots in hazardous environments. Controlling a robot to perform a complex or demanding task may overload operators resulting in poor performance. To design a robot…
We design a distributed feedback optimization strategy, embedded into a modular ROS 2 control architecture, which allows a team of heterogeneous robots to cooperatively monitor and encircle a target while patrolling points of interest.…
Remote robot manipulation with human control enables applications where safety and environmental constraints are adverse to humans (e.g. underwater, space robotics and disaster response) or the complexity of the task demands human-level…
There is invariably a trade-off between safety and efficiency for collaborative robots (cobots) in human-robot collaborations. Robots that interact minimally with humans can work with high speed and accuracy but cannot adapt to new tasks or…
This paper examines the effect of real-time, personalized alignment of a robot's reward function to the human's values on trust and team performance. We present and compare three distinct robot interaction strategies: a non-learner strategy…
Multi-robot cooperative control has gained extensive research interest due to its wide applications in civil, security, and military domains. This paper proposes a cooperative control algorithm for multi-robot systems with general linear…
In this work, we address a task allocation problem for human multi-robot settings. Given a set of tasks to perform, we formulate a general Mixed-Integer Linear Programming (MILP) problem aiming at minimizing the overall execution time while…
In recent years, an increased effort has been invested to improve the capabilities of robots. Nevertheless, human-robot interaction remains a complex field of application where errors occur frequently. The reasons for these errors can…
This paper investigates learning effects and human operator training practices in variable autonomy robotic systems. These factors are known to affect performance of a human-robot system and are frequently overlooked. We present the results…
Human-Robot Interaction, in which a robot with some level of autonomy interacts with a human to achieve a specific goal has seen much recent progress. With the introduction of autonomous robots and the possibility of widespread use of those…
Mutual adaptation can significantly enhance overall task performance in human-robot co-transportation by integrating both the robot's and human's understanding of the environment. While human modeling helps capture humans' subjective…
Human supervisors in multi-robot systems are primarily responsible for monitoring robots, but can also be assigned with secondary tasks. These tasks can act as interruptions and can be categorized as either intrinsic, i.e., being directly…
A central question for the future of work is whether person centered management can survive when algorithms take on managerial roles. Standard tools often miss what is happening because worker responses to algorithmic systems are rarely…
Human-in-the-loop learning is gaining popularity, particularly in the field of robotics, because it leverages human knowledge about real-world tasks to facilitate agent learning. When people instruct robots, they naturally adapt their…
Recent advancements in robotics have increased the possibilities for integrating robotic systems into human-involved workplaces, highlighting the need to examine and optimize human-robot coordination in collaborative settings. This study…
For decades, robotics researchers have pursued various tasks for multi-robot systems, from cooperative manipulation to search and rescue. These tasks are multi-robot extensions of classical robotic tasks and often optimized on dimensions…
The notion of symbiosis has been increasingly mentioned in research on physically coupled human-machine systems. Yet, a uniform specification on which aspects constitute human-machine symbiosis is missing. By combining the expertise of…
Human-swarm interaction (HSI) involves a number of human factors impacting human behaviour throughout the interaction. As the technologies used within HSI advance, it is more tempting to increase the level of swarm autonomy within the…
This article investigates mixed reality (MR) to enhance human-robot collaboration (HRC). The proposed solution adopts MR as a communication layer to convey a mobile manipulator's intentions and upcoming actions to the humans with whom it…