Related papers: Scaled Autonomy: Enabling Human Operators to Contr…
With increasing numbers of mobile robots arriving in real-world applications, more robots coexist in the same space, interact, and possibly collaborate. Methods to provide such systems with system size scalability are known, for example,…
Teleoperation serves as a powerful method for collecting on-robot data essential for robot learning from demonstrations. The intuitiveness and ease of use of the teleoperation system are crucial for ensuring high-quality, diverse, and…
Due to the potentially large number of units involved, the interaction with a multi-robot system is likely to exceed the limits of the span of apprehension of any individual human operator. In previous work, we studied how this issue can be…
The deployment of robot assistants in large indoor spaces has seen significant growth, with escorting tasks becoming a key application. However, most current escorting robots primarily rely on navigation-focused strategies, assuming that…
We present a user-friendly interface to teleoperate a soft robot manipulator in a complex environment. Key components of the system include a manipulator with a grasping end-effector that grows via tip eversion, gesture-based control, and…
Multi-object nonprehensile transportation in teleoperation demands simultaneous trajectory tracking and tray orientation control. Existing methods often struggle with model dependency, uncertain parameters, and multi-object adaptability. We…
Teleoperation enables remote human support of automated vehicles in scenarios where the automation is not able to find an appropriate solution. Remote assistance concepts, where operators provide discrete inputs to aid specific automation…
Autonomy and independent navigation are vital to daily life but remain challenging for individuals with blindness. Robotic systems can enhance mobility and confidence by providing intelligent navigation assistance. However, fully autonomous…
Teleoperation is a valuable tool for robotic manipulators in highly unstructured environments. However, finding an intuitive mapping between a human hand and a non-anthropomorphic robot hand can be difficult, due to the hands' dissimilar…
The development of the works of the author about adaptive algorithms of teaching the robotic systems with the help of operator is described here. An operator is assumed to be an experience decision-maker and sane carrier of a target which…
This paper develops an autonomous tethered aerial visual assistant for robot operations in unstructured or confined environments. Robotic tele-operation in remote environments is difficult due to lack of sufficient situational awareness,…
The deployment of robots in industrial and civil scenarios is a viable solution to protect operators from danger and hazards. Shared autonomy is paramount to enable remote control of complex systems such as legged robots, allowing the…
Coordinating heterogeneous robot fleets to achieve multiple goals is challenging in multi-robot systems. We introduce an open-source and extensible framework for centralized multi-robot task planning and scheduling that leverages LLMs to…
With an increasing interest in human-robot collaboration, there is a need to develop robot behavior while keeping the human user's preferences in mind. Highly skilled human users doing delicate tasks require their robot partners to behave…
Learning has propelled the cutting edge of performance in robotic control to new heights, allowing robots to operate with high performance in conditions that were previously unimaginable. The majority of the work, however, assumes that the…
Autonomous driving is among the most promising of upcoming traffic safety technologies. Prototypes of autonomous vehicles are already being tested on public streets today. However, while current prototypes prove the feasibility of truly…
Physically assistive robots in home environments can enhance the autonomy of individuals with impairments, allowing them to regain the ability to conduct self-care and household tasks. Individuals with physical limitations may find existing…
Self-driving vehicles are a maturing technology with the potential to reshape mobility by enhancing the safety, accessibility, efficiency, and convenience of automotive transportation. Safety-critical tasks that must be executed by a…
Shared control, which combines human expertise with autonomous assistance, is critical for effective teleoperation in complex environments. While recent advances in haptic-guided teleoperation have shown promise, they are often limited to…
Sense of agency is one factor that influences people's preferences for robot assistance and a phenomenon from cognitive science that represents the experience of control over one's environment. However, in assistive robotics literature, we…