Related papers: Needs-driven Heterogeneous Multi-Robot Cooperation…
We present the design and implementation of a decentralised, heterogeneous multi-robot system for performing intelligence, surveillance and reconnaissance (ISR) in an unknown environment. The team consists of functionally specialised robots…
Allocating tasks to heterogeneous robot teams in environments with uncertain task requirements is a fundamentally challenging problem. Redundantly assigning multiple robots to such tasks is overly conservative, while purely reactive…
Trust is essential in shaping human interactions with one another and with robots. This paper discusses how human trust in robot capabilities transfers across multiple tasks. We first present a human-subject study of two distinct task…
This paper presents a human-robot trust integrated task allocation and motion planning framework for multi-robot systems (MRS) in performing a set of tasks concurrently. A set of task specifications in parallel are conjuncted with MRS to…
Emergency happens in human-UAV cooperation, such as criminal activity tracking and urgent needs for ground assistance. Emergency response usually has high requirements on the motion control of the multi-UAV system, by maintaining both the…
In order to fully exploit the advantages inherent to cooperating heterogeneous multi-robot teams, sophisticated coordination algorithms are essential. Time-extended multi-robot task allocation approaches assign and schedule a set of tasks…
Research on multi-agent planning has been popular in recent years. While previous research has been motivated by the understanding that, through cooperation, multi-agent systems can achieve tasks that are unachievable by single-agent…
In this paper, we introduce a high-level controller synthesis framework that enables teams of heterogeneous agents to assist each other in resolving environmental conflicts that appear at runtime. This conflict resolution method is built…
In the present paper we develop a distributed method to reconnect a multi-robot team after connectivity failures, caused by unpredictable environment changes, i.e. appearance of new obstacles. After the changes, the team is divided into…
In the vision of smart cities, technologies are being developed to enhance the efficiency of urban services and improve residents' quality of life. However, most existing research focuses on optimizing individual services in isolation,…
A new and relatively unexplored research direction in robotics systems is the coordination of humans and robots working as a team. In this paper, we focus upon problem domains and tasks in which multiple robots, humans and other agents are…
For a team of heterogeneous robots executing multiple tasks, we propose a novel algorithm to optimally allocate tasks to robots while accounting for their different capabilities. Motivated by the need that robot teams have in many…
Achieving effective and seamless human-robot collaboration requires two key outcomes: enhanced team performance and fostering a positive human perception of both the robot and the collaboration. This paper investigates the capability of the…
Robotic systems need advanced mobility capabilities to operate in complex, three-dimensional environments designed for human use, e.g., multi-level buildings. Incorporating some level of autonomy enables robots to operate robustly,…
With the introduction of collaborative robots, humans and robots can now work together in close proximity and share the same workspace. However, this collaboration presents various challenges that need to be addressed to ensure seamless…
Collaborative space robots are an emerging technology with high impact as robots facilitate servicing functions in collaboration with astronauts with higher precision during lengthy tasks, under tight operational schedules, with less risk…
Robot navigation in dynamic environments shared with humans is an important but challenging task, which suffers from performance deterioration as the crowd grows. In this paper, multi-subgoal robot navigation approach based on deep…
Intelligent transportation systems require connected and automated vehicles (CAVs) to conduct safe and efficient cooperation with human-driven vehicles (HVs) in complex real-world traffic environments. However, the inherent unpredictability…
This paper addresses a synchronization problem that arises when a team of aerial robots (ARs) need to communicate while performing assigned tasks in a cooperative scenario. Each robot has a limited communication range and flies within a…
We outline our work on evaluating robots that assist older adults by engaging with them through multiple modalities that include physical interaction. Our thesis is that to increase the effectiveness of assistive robots: 1) robots need to…