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In order to increase productivity, capability, and data exploitation, numerous defense applications are experiencing an integration of state-of-the-art machine learning and AI into their architectures. Especially for defense applications,…
Foundation models, including large language models (LLMs), are increasingly used for human-in-the-loop (HITL) cyber-physical systems (CPS) because foundation model-based AI agents can potentially interact with both the physical environments…
We present an assistance system that reasons about a human's intended actions during robot teleoperation in order to provide appropriate corrections for unintended behavior. We model the human's physical interaction with a control interface…
Cyber-physical systems (CPSs) are part of most critical infrastructures such as industrial automation and transportation systems. Thus, security incidents targeting CPSs can have disruptive consequences to assets and people. As prior…
Transfer of objects between humans and robots is a critical capability for collaborative robots. Although there has been a recent surge of interest in human-robot handovers, most prior research focus on robot-to-human handovers. Further,…
Effective human-robot collaboration requires informed anticipation. The robot must anticipate the human's actions, but also react quickly and intuitively when its predictions are wrong. The robot must plan its actions to account for the…
This study introduces a haptic shared control framework designed to teach human drivers advanced driving skills. In this context, shared control refers to a driving mode where the human driver collaborates with an autonomous driving system…
Shared control in teleoperation for providing robot assistance to accomplish object manipulation, called telemanipulation, is a new promising yet challenging problem. This has unique challenges--on top of teleoperation challenges in…
This paper addresses task planning problems for language-instructed robot teams. Tasks are expressed in natural language (NL), requiring the robots to apply their capabilities at various locations and semantic objects. Several recent works…
This article explores natural interaction modalities for human-cyber-physical systems (CPS) interaction in construction. CPS has been applied in construction for many purposes with the promise of improving the safety and productivity of…
Human centric critical systems are increasingly involving artificial intelligence to enable knowledge extraction from sensor collected data. Examples include medical monitoring and control systems, gesture based human computer interaction…
Enabling multiple autonomous machines to perform reliably requires the development of efficient cooperative control algorithms. This paper presents a survey of algorithms that have been developed for controlling and coordinating autonomous…
In the field of Human-Robot Interaction (HRI), many researchers study shared control systems. Shared control is when a person and agent both contribute to the performance of a task in a collaborative way, often by providing control inputs…
Robot-to-human handovers often rely on static, open-loop strategies (or, at best, approaches that adapt only the position), which generally do not consider how the object will be grasped by the human, thus requiring the user to adapt. This…
We consider the problem of provably securing a given control loop implementation in the presence of adversarial interventions on data exchange between plant and controller. Such interventions can be thwarted using continuously operating…
We explore the usage of large language models (LLM) in human-in-the-loop human-in-the-plant cyber-physical systems (CPS) to translate a high-level prompt into a personalized plan of actions, and subsequently convert that plan into a…
To enable autonomous driving in interactive traffic scenarios, various model predictive control (MPC) formulations have been proposed, each employing different interaction models. While higher-fidelity models enable more intelligent…
With the continuous advancement of robot teleoperation technology, shared control is used to reduce the physical and mental load of the operator in teleoperation system. This paper proposes an alternating shared control framework for object…
A dynamic autonomy allocation framework automatically shifts how much control lies with the human versus the robotics autonomy, for example based on factors such as environmental safety or user preference. To investigate the question of…
Shift planning plays a key role for the health and well-being of healthcare workers. It determines when they work and when they can take time off to recover or engage in social activities. Current computer-support in shift planning is…