Related papers: Statistical Model Checking of Human-Robot Interact…
This paper proposes a model-based framework to automatically and efficiently design understandable and verifiable behaviors for swarms of robots. The framework is based on the automatic extraction of two distinct models: 1) a neural network…
The role of robots is expanding from tool to collaborator. Socially assistive robots (SARs) are an example of collaborative robots that assist humans in the real world. As robots enter our social sphere, unforeseen risks occur during…
Simulators are a critical component of modern robotics research. Strategies for both perception and decision making can be studied in simulation first before deployed to real world systems, saving on time and costs. Despite significant…
Topic models are widely used analysis techniques for clustering documents and surfacing thematic elements of text corpora. These models remain challenging to optimize and often require a "human-in-the-loop" approach where domain experts use…
In this paper, we present an approach for quantifying the propagated uncertainty of robot systems in an online and data-driven manner. Especially in Human-Robot Collaboration, keeping track of the safety compliance during run time is…
The information available to robots in real tasks is widely distributed both in time and space, requiring the agent to search for relevant data. In humans, that face the same problem when sounds, images and smells are presented to their…
Motion planning in environments with multiple agents is critical to many important autonomous applications such as autonomous vehicles and assistive robots. This paper considers the problem of motion planning, where the controlled agent…
Intentional or unintentional contacts are bound to occur increasingly more often due to the deployment of autonomous systems in human environments. In this paper, we devise methods to computationally predict imminent collisions between…
For social robots like Astro which interact with and adapt to the daily movements of users within the home, realistic simulation of human activity is needed for feature development and testing. This paper presents a framework for simulating…
Swarming behavior, where coherent motion emerges from the interactions of many mobile agents, is ubiquitous in physics and biology. Moreover, there are many efforts to replicate swarming dynamics in mobile robotic systems which take…
We present a novel framework for estimating accident-prone regions in everyday indoor scenes, aimed at improving real-time risk awareness in service robots operating in human-centric environments. As robots become integrated into daily…
Achieving safe control under uncertainty is a key problem that needs to be tackled for enabling real-world autonomous robots and cyber-physical systems. This paper introduces Probabilistic Safety Programs (PSP) that embed both the…
We describe an algorithm for motion planning based on expert demonstrations of a skill. In order to teach robots to perform complex object manipulation tasks that can generalize robustly to new environments, we must (1) learn a…
We are developing a system for human-robot communication that enables people to communicate with robots in a natural way and is focused on solving problems in a shared space. Our strategy for developing this system is fundamentally…
Statistical methods are based on model assumptions, and it is statistical folklore that a method's model assumptions should be checked before applying it. This can be formally done by running one or more misspecification tests of model…
In this paper, we investigate the impact of high-level semantics (evaluation of the environment) on Human-Robot Teams (HRT) and Human-Robot Interaction (HRI) in the context of mobile robot deployments. Although semantics has been widely…
Physics engines play an important role in robot planning and control; however, many real-world control problems involve complex contact dynamics that cannot be characterized analytically. Most physics engines therefore employ .…
Human-in-the-loop (HitL) robot deployment has gained significant attention in both academia and industry as a semi-autonomous paradigm that enables human operators to intervene and adjust robot behaviors at deployment time, improving…
Human-supervision in multi-agent teams is a critical requirement to ensure that the decision-maker's risk preferences are utilized to assign tasks to robots. In stressful complex missions that pose risk to human health and life, such as…
We introduce a model for spatial statistics which can account explicitly for interactions among more than two field components at a time. The theoretical aspects of the model are dealt with: cumulant and moment generating functions, spatial…