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We consider the problem of how to deploy a controller to a (networked) cyber-physical system (CPS). Controlling a CPS is an involved task, and synthesizing a controller to respect sensing, actuation, and communication constraints is only…
Hybrid dynamical systems are ubiquitous as practical robotic applications often involve both continuous states and discrete switchings. Safety is a primary concern for hybrid robotic systems. Existing safety-critical control approaches for…
This chapter introduces the concept of Collective Intelligence for Deliberative Democracy (CI4DD). We propose that the use of computational tools, specifically artificial intelligence to advance deliberative democracy, is an instantiation…
Shared autonomy provides a framework where a human and an automated system, such as a robot, jointly control the system's behavior, enabling an effective solution for various applications, including human-robot interaction. However, a…
One of the main challenges in integrating Cyber-Physical System-of-Systems (CPSoS) to function as a single unified system is the autonomy of its Cyber-Physical Systems (CPSs), which may lead to a lack of coordination among CPSs and results…
Haptic shared control is expected to achieve a smooth collaboration between humans and automated systems, because haptics facilitate mutual communication. A methodology for sharing a given task is important to achieve effective shared…
In shared control, advances in autonomous robotics are applied to help empower a human user in operating a robotic system. While these systems have been shown to improve efficiency and operation success, users are not always accepting of…
In shared autonomy, user input and robot autonomy are combined to control a robot to achieve a goal. Often, the robot does not know a priori which goal the user wants to achieve, and must both predict the user's intended goal, and assist in…
Robotic agents that share autonomy with a human should leverage human domain knowledge and account for their preferences when completing a task. This extra knowledge can dramatically improve plan efficiency and user-satisfaction, but these…
Learning from human demonstration is an effective approach for learning complex manipulation skills. However, existing approaches heavily focus on learning from passive human demonstration data for its simplicity in data collection.…
Cyber-physical systems (CPS), which integrate algorithmic control with physical processes, often consist of physically distributed components communicating over a network. A malfunctioning or compromised component in such a CPS can lead to…
This paper introduces the notion of danger awareness in the context of Human-Robot Interaction (HRI), which decodes whether a human is aware of the existence of the robot, and illuminates whether the human is willing to engage in enforcing…
In this paper, we propose a novel safe, passive, and robust control law for mechanical systems. The proposed approach addresses safety from a physical human-robot interaction perspective, where a robot must not only stay inside a…
This paper presents a planning algorithm designed to improve cooperative robot behavior concerning human comfort during forceful human-robot physical interaction. Particularly, we are interested in planning for object grasping and…
This contribution explores how the integration of Artificial Intelligence (AI) into organizational practices can be effectively framed through a socio-technical perspective to comply with the requirements of Human-centered AI (HCAI).…
Cyber-Physical System (CPS) represents systems that join both hardware and software components to perform real-time services. Maintaining the system's reliability is critical to the continuous delivery of these services. However, the CPS…
This paper bridges distribution shift and AI safety through a comprehensive analysis of their conceptual and methodological synergies. While prior discussions often focus on narrow cases or informal analogies, we establish two types…
This paper explores cooperative trajectory planning approaches within the context of human-machine shared control. In shared control research, it is typically assumed that the human and the automation use the same reference trajectory to…
A Cyber-Physical-Social System (CPSS) is an emerging paradigm often understood as a physical and virtual space of interaction which is cohabited by humans and sensor-enabled smart devices. In such settings, human interaction behaviour is…
Human-swarm interaction (HSI) involves a number of human factors impacting human behaviour throughout the interaction. As the technologies used within HSI advance, it is more tempting to increase the level of swarm autonomy within the…