Related papers: Statistical Model Checking of Human-Robot Interact…
Natural conversations between humans often involve a large number of non-verbal nuanced expressions, displayed at key times throughout the conversation. Understanding and being able to model these complex interactions is essential for…
Balancing safety and efficiency when planning in crowded scenarios with uncertain dynamics is challenging where it is imperative to accomplish the robot's mission without incurring any safety violations. Typically, chance constraints are…
The mental models that humans form of other agents---encapsulating human beliefs about agent goals, intentions, capabilities, and more---create an underlying basis for interaction. These mental models have the potential to affect both the…
In this paper we survey recent work on the use of statistical model checking techniques for biological applications. We begin with an overview of the basic modelling techniques for biochemical reactions and their corresponding stochastic…
Human-robot interactions have been recognized to be a key element of future industrial collaborative robots (co-robots). Unlike traditional robots that work in structured and deterministic environments, co-robots need to operate in highly…
Model-based development enables quicker prototyping, earlier experimentation and validation of design intents. For a multi-agent system with complex asynchronous interactions and concurrency, formal verification, model-checking in…
In this report, we present work towards a framework for modeling and checking behavior of spatially distributed component systems. Design goals of our framework are the ability to model spatial behavior in a component oriented, simple and…
Multi-agent systems are prevalent in a wide range of domains including power systems, vehicular networks, and robotics. Two important problems to solve in these types of systems are how the intentions of non-coordinating agents can be…
As robotic technology advances, the barriers to the coexistence of humans and robots are slowly coming down. Application domains like elderly care, collaborative manufacturing, collaborative manipulation, etc., are considered the need of…
Providing guarantees on the safe operation of robots against edge cases is challenging as testing methods such as traditional Monte-Carlo require too many samples to provide reasonable statistics. Built upon recent advancements in…
Simulation models of pedestrian dynamics have become an invaluable tool for evacuation planning. Typically crowds are assumed to stream unidirectionally towards a safe area. Simulated agents avoid collisions through mechanisms that belong…
For the design and implementation of engineering systems, performing model-based analysis can disclose potential safety issues at an early stage. The analysis of hybrid system models is in general difficult due to the intrinsic complexity…
Autonomous robots deployed in shared human environments, such as agricultural settings, require rigorous safety assurance to meet both functional reliability and regulatory compliance. These systems must operate in dynamic, unstructured…
Human-robot collaboration enables highly adaptive co-working. The variety of resulting workflows makes it difficult to measure metrics as, e.g. makespans or idle times for multiple systems and tasks in a comparable manner. This issue can be…
We present a novel approach to shared control of human-machine systems. Our method assumes no a priori knowledge of the system dynamics. Instead, we learn both the dynamics and information about the user's interaction from observation…
Robotics simulation has been an integral part of research and development in the robotics area. The simulation eliminates the possibility of harm to sensors, motors, and the physical structure of a real robot by enabling robotics…
For successful goal-directed human-robot interaction, the robot should adapt to the intentions and actions of the collaborating human. This can be supported by musculoskeletal or data-driven human models, where the former are limited to…
Many complex systems can be described by population models, in which a pool of agents interacts and produces complex collective behaviours. We consider the problem of verifying formal properties of the underlying mathematical representation…
Human awareness in robot motion planning is crucial for seamless interaction with humans. Many existing techniques slow down, stop, or change the robot's trajectory locally to avoid collisions with humans. Although using the information on…
Modeling how a robot interacts with the environment around it is an important prerequisite for designing control and planning algorithms. In fact, the performance of controllers and planners is highly dependent on the quality of the model.…