Related papers: Statistical Model Checking of Human-Robot Interact…
Deploying robots in human-shared spaces requires understanding interactions among nearby agents and objects. Modelling cause-and-effect relations through causal inference aids in predicting human behaviours and anticipating robot…
This paper proposes a robot action planning scheme that provides an efficient and probabilistically safe plan for a robot interacting with an unconcerned human -- someone who is either unaware of the robot's presence or unwilling to engage…
Software is a great enabler for a number of projects that otherwise would be impossible to perform. Such projects include Space Exploration, Weather Modeling, Genome Projects, and many others. It is critical that software aiding these…
In this paper, a method for a cooperative trajectory planning between a human and an automation is extended by a behavioral model of the human. This model can characterize the stubbornness of the human, which measures how strong the human…
When designing systems that are complex, dynamic and stochastic in nature, simulation is generally recognised as one of the best design support technologies, and a valuable aid in the strategic and tactical decision making process. A…
There are a variety of mechanisms (i.e., input types) for real-time human interaction that can facilitate effective human-robot teaming. For example, previous works have shown how teleoperation, corrective, and discrete (i.e., preference…
Safety concerns have risen as robots become more integrated into our daily lives and continue to interact closely with humans. One of the most crucial safety priorities is preventing collisions between robots and people walking nearby.…
The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles and inter-agent collision. Building off our previously…
With the rise of computers, simulation models have emerged beside the more traditional statistical and mathematical models as a third pillar for ecological analysis. Broadly speaking, a simulation model is an algorithm, typically…
Human-robot interactions (HRI) can be modeled as dynamic or differential games with incomplete information, where each agent holds private reward parameters. Due to the open challenge in finding perfect Bayesian equilibria of such games,…
Recent advancements in robotics have increased the possibilities for integrating robotic systems into human-involved workplaces, highlighting the need to examine and optimize human-robot coordination in collaborative settings. This study…
There are many situations in which it would be beneficial for a robot to have predictive abilities similar to those of rational humans. Some of these situations include collaborative robots, robots in adversarial situations, and for dynamic…
The motion of robots and objects in our world is often highly dependent upon contact. When contact is expected but does not occur or when contact is not expected but does occur, robot behavior diverges from plan, often disastrously. This…
Safety is now a major concern in many complex systems such as medical robots. A way to control the complexity of such systems is to manage risk. The first and important step of this activity is risk analysis. During risk analysis, two main…
With the growing interest in deploying robots in unstructured and uncertain environments, there has been increasing interest in factoring risk into safety-critical control development. Similarly, the authors believe risk should also be…
Mathematical modelling and numerical simulations of interaction populations are crucial topics in systems biology. The interactions of ecological models may occur among individuals of the same species or individuals of different species.…
We present a verification methodology for analysing the decision-making component in agent-based hybrid systems. Traditionally hybrid automata have been used to both implement and verify such systems, but hybrid automata based modelling,…
Statistical Model Checking (SMC) is a trade-off between testing and formal verification. The core idea of the approach is to conduct some simulations of the system and verify if they satisfy some given property. In this paper we show that…
Automation systems exist in many variants and may evolve over time in order to deal with different environment contexts or to fulfill changing customer requirements. This induces an increased complexity during design-time as well as tedious…
Understanding human intentions is critical for safe and effective human-robot collaboration. While state of the art methods for human goal prediction utilize learned models to account for the uncertainty of human motion data, that data is…