Related papers: Human Intention Recognition for Human Aware Planni…
Increasing autonomous vehicles (AVs) in transportation systems makes effective interactions between AVs and pedestrians indispensable. External human--machine interface (eHMI), which employs visual or auditory cues to explicitly convey…
One of the challenges to reduce the gap between the machine and the human level driving is how to endow the system with the learning capacity to deal with the coupled complexity of environments, intentions, and dynamics. In this paper, we…
Conversational assistive robots can aid people, especially those with cognitive impairments, to accomplish various tasks such as cooking meals, performing exercises, or operating machines. However, to interact with people effectively,…
There is an increasing need to develop artificial intelligence systems that assist groups of humans working on coordinated tasks. These systems must recognize and understand the plans and relationships between actions for a team of humans…
Efficiently detecting human intent to interact with ubiquitous robots is crucial for effective human-robot interaction (HRI) and collaboration. Over the past decade, deep learning has gained traction in this field, with most existing…
In real-world industrial environments, modern robots often rely on human operators for crucial decision-making and mission synthesis from individual tasks. Effective and safe collaboration between humans and robots requires systems that can…
Humans have the fascinating capacity of processing non-verbal visual cues to understand and anticipate the actions of other humans. This "intention reading" ability is underpinned by shared motor-repertoires and action-models, which we use…
We study a human-robot collaborative transportation task in presence of obstacles. The task for each agent is to carry a rigid object to a common target position, while safely avoiding obstacles and satisfying the compliance and actuation…
Object packing by autonomous robots is an im-portant challenge in warehouses and logistics industry. Most conventional data-driven packing planning approaches focus on regular cuboid packing, which are usually heuristic and limit the…
Stochastic human motion prediction is critical for safe and effective human-robot collaboration (HRC) in industrial remanufacturing, as it captures human motion uncertainties and multi-modal behaviors that deterministic methods cannot…
This paper addresses the problem of planning complex manipulation tasks, in which multiple robots with different end-effectors and capabilities, informed by computer vision, must plan and execute concatenated sequences of actions on a…
Producing robust task plans in human-robot collaborative missions is a critical activity in order to increase the likelihood of these missions completing successfully. Despite the broad research body in the area, which considers different…
In communicationless environments, multi-robot systems must operate without the constant information exchange that many coordination strategies typically assume. This paper presents a novel dynamic epistemic planning framework that enables…
The multi-Agent Pickup and Delivery (MAPD) problem is crucial in the realm of Intelligent Storage Systems (ISSs), where multiple robots are assigned with time-varying, heterogeneous, and potentially uncertain tasks. When it comes to…
Accurate inference of human intent enables human-robot collaboration without constraining human control or causing conflicts between humans and robots. We present GUIDER (Global User Intent Dual-phase Estimation for Robots), a probabilistic…
External Human-Machine Interfaces (eHMI) are widely used on robots and autonomous vehicles to convey the machine's intent to humans. Delivery robots are getting common, and they share the sidewalk along with the pedestrians. Current…
To operate safely and efficiently, autonomous warehouse/delivery robots must be able to accomplish tasks while navigating in dynamic environments and handling the large uncertainties associated with the motions/behaviors of other robots…
We consider the task of autonomously unloading boxes from trucks using an industrial manipulator robot. There are multiple challenges that arise: (1) real-time motion planning for a complex robotic system carrying two articulated…
This paper describes a method of estimating the intention of a user's motion in a robot tele-operation scenario. One of the issues in tele-operation is latency, which occurs due to various reasons such as a slow robot motion and a narrow…
The architecture described in this paper encodes a theory of intentions based on the the key principles of non-procrastination, persistence, and automatically limiting reasoning to relevant knowledge and observations. The architecture…