Related papers: Mixed-Initiative variable autonomy for remotely op…
This paper presents a Mixed-Initiative (MI) framework for addressing the problem of control authority transfer between a remote human operator and an AI agent when cooperatively controlling a mobile robot. Our Hierarchical Expert-guided…
This paper presents a Cognitive Availability Aware Mixed-Initiative Controller for remotely operated mobile robots. The controller enables dynamic switching between different levels of autonomy (LOA), initiated by either the AI or the human…
Robots assist in many areas that are considered unsafe for humans to operate. For instance, in handling pandemic diseases such as the recent Covid-19 outbreak and other outbreaks like Ebola, robots can assist in reaching areas dangerous for…
This paper investigates how trust, shared understanding between a human operator and a robot, and the Locus of Control (LoC) personality trait, evolve and affect Human-Robot Interaction (HRI) in mixed-initiative robotic systems. As such…
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-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…
Human collaboration with robots requires flexible role adaptation, enabling the robot to switch between an active leader and a passive follower. Effective role switching depends on accurately estimating human intentions, which is typically…
This paper presents the results of real-world testing of human-vehicle interactions with an autonomous vehicle equipped with internal and external Human Machine Interfaces (HMIs) in a crosswalk scenario. The internal and external HMIs were…
This paper addresses the problem of safe and efficient navigation in remotely controlled robots operating in hazardous and unstructured environments; or conducting other remote robotic tasks. A shared control method is presented which…
Swarm robotics is a study of simple robots that exhibit complex behaviour only by interacting locally with other robots and their environment. The control in swarm robotics is mainly distributed whereas centralised control is widely used in…
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…
Autonomous robots often encounter challenging situations where their control policies fail and an expert human operator must briefly intervene, e.g., through teleoperation. In settings where multiple robots act in separate environments, a…
We present a shared control paradigm that improves a user's ability to operate complex, dynamic systems in potentially dangerous environments without a priori knowledge of the user's objective. In this paradigm, the role of the autonomous…
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…
In this paper, we propose and evaluate a novel human-machine interface (HMI) for controlling a standing mobility vehicle or person carrier robot, aiming for a hands-free control through upper-body natural postures derived from gaze tracking…
Recently, many humanoid robots have been increasingly deployed in various facilities, including hospitals and assisted living environments, where they are often remotely controlled by human operators. Their kinematic redundancy enhances…
Humanoid robot technologies have demonstrated immense potential for minimally invasive surgery (MIS). Unlike dedicated multi-arm surgical platforms, the inherent dual-arm configuration of humanoid robots necessitates an efficient instrument…
Despite the fact that robotic platforms can provide both consistent practice and objective assessments of users over the course of their training, there are relatively few instances where physical human robot interaction has been…
Effective robotic systems for long-horizon human-robot collaboration must adapt to a wide range of human partners, whose physical behavior, willingness to assist, and understanding of the robot's capabilities may change over time. This…
Medical robotics can help improve and extend the reach of healthcare services. A major challenge for medical robots is the complex physical interaction between the robot and the patients which is required to be safe. This work presents the…