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Autonomous cars can reduce road traffic accidents and provide a safer mode of transport. However, key technical challenges, such as safe navigation in complex urban environments, need to be addressed before deploying these vehicles on the…
Bimanual object manipulation involves multiple visuo-haptic sensory feedbacks arising from the interaction with the environment that are managed from the central nervous system and consequently translated in motor commands. Kinematic…
Remotely operating vehicles utilizes the benefits of vehicle automation when fully automated driving is not yet possible. A human operator ensures safety and availability from afar and supports the vehicle automation when its capabilities…
A central challenge for autonomous vehicles is coordinating with humans. Therefore, incorporating realistic human agents is essential for scalable training and evaluation of autonomous driving systems in simulation. Simulation agents are…
Intuitive and efficient physical human-robot collaboration relies on the mutual observability of the human and the robot, i.e. the two entities being able to interpret each other's intentions and actions. This is remedied by a myriad of…
Center touchscreens are the main HMI (Human-Machine Interface) between the driver and the vehicle. They are becoming, larger, increasingly complex and replace functions that could previously be controlled using haptic interfaces. To ensure…
This paper presents a pioneering exploration into the integration of fine-grained human supervision within the autonomous driving domain to enhance system performance. The current advances in End-to-End autonomous driving normally are…
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 work, we develop a game-theoretic modeling of the interaction between a human operator and an autonomous decision aid when they collaborate in a multi-agent task allocation setting. In this setting, we propose a decision aid that is…
This paper presents a safe imitation learning approach for autonomous vehicle driving, with attention on real-life human driving data and experimental validation. In order to increase occupant's acceptance and gain drivers' trust, the…
Steering models (such as the generalized two-point model) predict human steering behavior well when the human is in direct control of a vehicle. In vehicles under autonomous control, human control inputs are not used; rather, an autonomous…
This paper investigates a fully distributed cooperation scheme for networked mobile manipulators. To achieve cooperative task allocation in a distributed way, an adaptation-based estimation law is established for each robotic agent to…
The capabilities of automated vehicles are advancing rapidly, yet achieving full autonomy remains a significant challenge, requiring ongoing human cognition in decision-making processes. Incorporating human cognition into control algorithms…
As the global population ages, effective rehabilitation and mobility aids will become increasingly critical. Gait assistive robots are promising solutions, but designing adaptable controllers for various impairments poses a significant…
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…
Autonomous driving is a multi-task problem requiring a deep understanding of the visual environment. End-to-end autonomous systems have attracted increasing interest as a method of learning to drive without exhaustively programming…
In autonomous vehicle (AV) technology, the ability to accurately predict the movements of surrounding vehicles is paramount for ensuring safety and operational efficiency. Incorporating human decision-making insights enables AVs to more…
An important factor in developing control models for human-robot collaboration is how acceptable they are to their human partners. One such method for creating acceptable control models is to attempt to mimic human-like behaviour in robots…
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…
In conditional automation, a response from the driver is expected when a take over request is issued due to unexpected events, emergencies, or reaching the operational design domain boundaries. Cooperation between the automated driving…