Related papers: Scaled Autonomy: Enabling Human Operators to Contr…
As human space exploration evolves toward longer voyages farther from our home planet, in-situ resource utilization (ISRU) becomes increasingly important. Haptic teleoperations are one of the technologies by which such activities can be…
Humans directly completing tasks in dangerous or hazardous conditions is not always possible where these tasks are increasingly be performed remotely by teleoperated robots. However, teleoperation is difficult since the operator feels a…
Teleoperation platforms often require the user to be situated at a fixed location to both visualize and control the movement of the robot and thus do not provide the operator with much mobility. One example is in existing robotic surgery…
Teleoperation plays a crucial role in enabling robot operations in challenging environments, yet existing limitations in effectiveness and accuracy necessitate the development of innovative strategies for improving teleoperated tasks. This…
The operation of humanoid robotics is an essential field of research with many practical and competitive applications. Many of these systems, however, do not invest heavily in developing a non-expert-centered graphical user interface (GUI)…
Mobile robot fleets are currently used in different scenarios such as medical environments or logistics. The management of these systems provides different challenges that vary from the control of the movement of each robot to the…
We consider the problem of building an assistive robotic system that can help humans in daily household cleanup tasks. Creating such an autonomous system in real-world environments is inherently quite challenging, as a general solution may…
With the introduction of collaborative robots, humans and robots can now work together in close proximity and share the same workspace. However, this collaboration presents various challenges that need to be addressed to ensure seamless…
Robot teleoperation (RTo) has emerged as a viable alternative to local control, particularly when human intervention is still necessary. This research aims to study the distance effect on user perception in RTo, exploring the potential of…
We address multi-robot safe mission planning in uncertain dynamic environments. This problem arises in several applications including safety-critical exploration, surveillance, and emergency rescue missions. Computation of a multi-robot…
Shared autonomy is a promising paradigm in robotic systems, particularly within the maritime domain, where complex, high-risk, and uncertain environments necessitate effective human-robot collaboration. This paper investigates the…
Our research explores the potential of a humanoid robot for work in unpredictable environments, but controlling a humanoid robot remains a very difficult problem. In our previous work, we designed a prototype virtual reality (VR) interface…
With recent advancements in AI and computation tools, intelligent paradigms emerged to empower different fields such as healthcare robots with new capabilities. Advanced AI robotic algorithms (e.g., reinforcement learning) can be trained…
We propose a formalism for shared control, which is the problem of defining a policy that blends user control and autonomous control. The challenge posed by the shared autonomy system is to maintain user control authority while allowing the…
A dynamic autonomy allocation framework automatically shifts how much control lies with the human versus the robotics autonomy, for example based on factors such as environmental safety or user preference. To investigate the question of…
Corrective Shared Autonomy is a method where human corrections are layered on top of an otherwise autonomous robot behavior. Specifically, a Corrective Shared Autonomy system leverages an external controller to allow corrections across a…
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…
Teleoperation provides an effective way to collect robot data, which is crucial for learning from demonstrations. In this field, teleoperation faces several key challenges: user-friendliness for new users, safety assurance, and…
Shared autonomy refers to approaches for enabling an autonomous agent to collaborate with a human with the aim of improving human performance. However, besides improving performance, it may often also be beneficial that the agent…
Humanoid robot teleoperation allows humans to integrate their cognitive capabilities with the apparatus to perform tasks that need high strength, manoeuvrability and dexterity. This paper presents a framework for teleoperation of humanoid…