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Socially aware robot navigation is a planning paradigm where the robot navigates in human environments and tries to adhere to social constraints while interacting with the humans in the scene. These navigation strategies were further…

Teleoperation allows a human operator to remotely interact with and control a mobile robot in a dangerous or inaccessible area. Besides well-known applications such as space exploration or search and rescue operations, the application of…

Wildfires are destructive and inflict massive, irreversible harm to victims' lives and natural resources. Researchers have proposed commissioning unmanned aerial vehicles (UAVs) to provide firefighters with real-time tracking information;…

The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…

Designing an efficient and resilient human-robot collaboration strategy that not only upholds the safety and ergonomics of shared workspace but also enhances the performance and agility of collaborative setup presents significant challenges…

This paper presents a Mixed-Initiative (MI) framework for addressing the problem of control authority transfer between a remote human operator and an AI agent when cooperatively controlling a mobile robot. Our Hierarchical Expert-guided…

Safety is of great importance in multi-robot navigation problems. In this paper, we propose a control barrier function (CBF) based optimizer that ensures robot safety with both high probability and flexibility, using only sensor…

Teleoperation is a widely adopted strategy to control robotic manipulators executing complex tasks that require highly dexterous movements and critical high-level intelligence. Classical teleoperation schemes are based on either joystick…

Transporting large and heavy objects can benefit from Human-Robot Collaboration (HRC), increasing the contribution of robots to our daily tasks and reducing the risk of injuries to the human operator. This approach usually posits the human…

This work proposes a novel approach to social robot navigation by learning to generate robot controls from a social motion latent space. By leveraging this social motion latent space, the proposed method achieves significant improvements in…

Robust cooperative formation control is investigated in this paper for fixed-wing unmanned aerial vehicles in close formation flight to save energy. A novel cooperative control method is developed. The concept of virtual structure is…

Many realistic robotics tasks are best solved compositionally, through control architectures that sequentially invoke primitives and achieve error correction through the use of loops and conditionals taking the system back to alternative…

With the rapid development of robot swarm technology and its diverse applications, navigating robot swarms through complex environments has emerged as a critical research direction. To ensure safe navigation and avoid potential collisions…

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…

In this paper, a robot navigating an environment shared with humans is considered, and a cost function that can be exploited in $\text{RRT}^\text{X}$, a randomized sampling-based replanning algorithm that guarantees asymptotic optimality,…

Companies all over the world started to produce and sell telepresence robots in the last decade. Users of these robots have to plan their way to avoid collisions and control the speed of the robot to move it to destination point. This…

This paper presents a Human-Robot Blind Handover architecture within the context of Human-Robot Collaboration (HRC). The focus lies on a blind handover scenario where the operator is intentionally faced away, focused in a task, and requires…

Multi-robot systems are increasingly deployed in high-risk missions such as reconnaissance, disaster response, and subterranean operations. Protecting a human operator while navigating unknown and adversarial environments remains a critical…

Humans are remarkable at navigating and moving through dynamic and complex spaces, such as crowded streets. For robots to do the same, it is crucial that they are endowed with highly reactive obstacle avoidance robust to partial and poor…

In recent years, impressive results have been achieved in robotic manipulation. While many efforts focus on generating collision-free reference signals, few allow safe contact between the robot bodies and the environment. However, in…