Related papers: A General Arbitration Model for Robust Human-Robot…
The rapid advance of large-scale AI systems is reshaping how work is divided between people and machines. We formalise this reallocation as an iterated task-delegation map and show that--under broad, empirically grounded assumptions--the…
This research investigates strategies for multi-robot coordination in multi-human environments. It proposes a multi-objective learning-based coordination approach to addressing the problem of path planning, navigation, task scheduling, task…
The ability to achieve precise and smooth trajectory tracking is crucial for ensuring the successful execution of various tasks involving robotic manipulators. State-of-the-art techniques require accurate mathematical models of the robot…
Wildfires are destructive and inflict massive, irreversible harm to victims' lives and natural resources. Researchers have proposed commissioning unmanned aerial vehicles (UAVs) to provide firefighters with real-time tracking information;…
Trust is essential in shaping human interactions with one another and with robots. This paper discusses how human trust in robot capabilities transfers across multiple tasks. We first present a human-subject study of two distinct task…
This work studies how parametric uncertainties affect the cooperative manipulation of a cable-suspended beam-shaped load by means of two aerial robots not explicitly communicating with each other. In particular, the work sheds light on the…
The dominant paradigm for end-to-end robot learning focuses on optimizing task-specific objectives that solve a single robotic problem such as picking up an object or reaching a target position. However, recent work on high-capacity models…
Automated scheduling is potentially a very useful tool for facilitating efficient, intuitive interactions between a robot and a human teammate. However, a current gapin automated scheduling is that it is not well understood how to best…
This paper proposes an analytical framework for modelling resource contention in multi-robot systems, where the travel times and task durations are uncertain. It uses several approximation methods to quickly and accurately calculate the…
When a robotic system is redundant with respect to a given task, the remaining degrees of freedom can be used to satisfy additional objectives. With current robotic systems having more and more degrees of freedom, this can lead to an entire…
Our goal is to model and experimentally assess trust evolution to predict future beliefs and behaviors of human-robot teams in dynamic environments. Research suggests that maintaining trust among team members in a human-robot team is vital…
Assessing human performance in robotic scenarios such as those seen in telepresence and teleoperation has always been a challenging task. With the recent spike in mixed reality technologies and the subsequent focus by researchers, new…
Assistive robots can potentially improve the quality of life and personal independence of elderly people by supporting everyday life activities. To guarantee a safe and intuitive interaction between human and robot, human intentions need to…
We explore task tolerances, i.e., allowable position or rotation inaccuracy, as an important resource to facilitate smooth and effective telemanipulation. Task tolerances provide a robot flexibility to generate smooth and feasible motions;…
Robots sometimes have to work together with a mixture of partially-aligned or conflicting goals. Flocking - coordinated motion through cohesion, alignment, and separation - traditionally assumes uniform desired inter-agent distances. Many…
Goals for planning problems are typically conceived of as subsets of the state space. However, for many practical planning problems in robotics, we expect the robot to predict goals, e.g. from noisy sensors or by generalizing learned models…
Assistive robot arms try to help their users perform everyday tasks. One way robots can provide this assistance is shared autonomy. Within shared autonomy, both the human and robot maintain control over the robot's motion: as the robot…
Augmented Reality and Virtual Reality can provide to a Human Operator (HO) a real help to complete complex tasks, such as robot teleoperation and cooperative teleassistance. Using appropriate augmentations, the HO can interact faster, safer…
Traditional approaches to ensure group fairness in algorithmic decision making aim to equalize ``total'' error rates for different subgroups in the population. In contrast, we argue that the fairness approaches should instead focus only on…
This paper proposes a dynamic game formulation for cooperative human-robot navigation in shared workspaces with obstacles, where the human and robot jointly satisfy shared safety constraints while pursuing a common task. A key contribution…