Related papers: Human Robot Collaborative Assembly Planning: An An…

Collaboration requires coordination, and we coordinate by anticipating our teammates' future actions and adapting to their plan. In some cases, our teammates' actions early on can give us a clear idea of what the remainder of their plan is,…

We consider the problem of completing a set of $n$ tasks with a human-robot team using minimum effort. In many domains, teaching a robot to be fully autonomous can be counterproductive if there are finitely many tasks to be done. Rather,…

For widespread deployment in domains characterized by partial observability, non-deterministic actions and unforeseen changes, robots need to adapt sensing, processing and interaction with humans to the tasks at hand. While robots typically…

Collaborative robotics cells leverage heterogeneous agents to provide agile production solutions. Effective coordination is essential to prevent inefficiencies and risks for human operators working alongside robots. This paper proposes a…

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…

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…

In this work, we present an approach to planning for humanoid mobility. Humanoid mobility is a challenging problem, as the configuration space for a humanoid robot is intractably large, especially if the robot is capable of performing many…

Collaborative human activities are grounded in social and moral norms, which humans consciously and subconsciously use to guide and constrain their decision-making and behavior, thereby strengthening their interactions and preventing…

The combination of collaborative robots and end-to-end AI, promises flexible automation of human tasks in factories and warehouses. However, such promise seems a few breakthroughs away. In the meantime, humans and cobots will collaborate…

The anticipation of human behavior is a crucial capability for robots to interact with humans safely and efficiently. We employ a smart edge sensor network to provide global observations, future predictions, and goal information to…

Enabling robots to understand instructions provided via spoken natural language would facilitate interaction between robots and people in a variety of settings in homes and workplaces. However, natural language instructions are often…

This paper considers an optimal task allocation problem for human robot collaboration in human robot systems with persistent tasks. Such human robot systems consist of human operators and intelligent robots collaborating with each other to…

Mobile autonomous robots have the potential to revolutionize manufacturing processes. However, employing large robot fleets in manufacturing requires addressing challenges including collision-free movement in a shared workspace, effective…

We study the mixed human-robot team design in a system theoretic setting using the context of a surveillance mission. The three key coupled components of a mixed team design are (i) policies for the human operator, (ii) policies to account…

We focus on human-robot collaborative transport, in which a robot and a user collaboratively move an object to a goal pose. In the absence of explicit communication, this problem is challenging because it demands tight implicit coordination…

Consider a robot tasked with tidying a desk with a meticulously constructed Lego sports car. A human may recognize that it is not appropriate to disassemble the sports car and put it away as part of the "tidying." How can a robot reach that…

When robots entered our day-to-day life, the shared space surrounding humans and robots is critical for effective Human-Robot collaboration. The design of shared space should satisfy humans' preferences and robots' efficiency. This work…

Effective human-robot collaboration in open-world environments requires joint planning under uncertain conditions. However, existing approaches often treat humans as passive supervisors, preventing autonomous agents from becoming human-like…

Increased robot deployment, such as in warehousing, has revealed a need for collaboration among heterogeneous robot teams to resolve unforeseen conflicts. To this end, we propose a peer-to-peer coordination protocol that enables robots to…

The field of Human-Robot Collaboration (HRC) has seen a considerable amount of progress in recent years. Thanks in part to advances in control and perception algorithms, robots have started to work in increasingly unstructured environments,…