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The Industry 4.0 paradigm emphasizes the crucial benefits that collaborative robots, i.e., robots able to work alongside and together with humans, could bring to the whole production process. In this context, an enabling technology yet…
Robots with a high level of autonomy are increasingly requested by smart industries. A way to reduce the workers' stress and effort is to optimize the working environment by taking advantage of autonomous collaborative robots. A typical…
In collaborative robotic applications, human and robot have to work together during a whole shift for executing a sequence of jobs. The performance of the human robot team can be enhanced by scheduling the right tasks to the human and the…
Though construction robots have drawn attention in research and practice for decades, human-robot collaboration (HRC) remains important to conduct complex construction tasks. Considering its complexity and uniqueness, it is still unclear…
In collaborative tasks, autonomous agents fall short of humans in their capability to quickly adapt to new and unfamiliar teammates. We posit that a limiting factor for zero-shot coordination is the lack of shared task abstractions, a…
Human-robot collaboration (HRC) in a shared workspace has become a common pattern in real-world robot applications and has garnered significant research interest. However, most existing studies for human-in-the-loop (HITL) collaboration…
Task allocation in multi-human multi-robot (MH-MR) teams presents significant challenges due to the inherent heterogeneity of team members, the dynamics of task execution, and the information uncertainty of operational states. Existing…
We present a decentralized, agent agnostic, and safety-aware control framework for human-robot collaboration based on Virtual Model Control (VMC). In our approach, both humans and robots are embedded in the same virtual-component-shaped…
We propose a new formulation for the multi-robot task allocation problem that incorporates (a) complex precedence relationships between tasks, (b) efficient intra-task coordination, and (c) cooperation through the formation of robot…
Task allocation using a team or coalition of robots is one of the most important problems in robotics, computer science, operational research, and artificial intelligence. In recent work, research has focused on handling complex objectives…
Robots can provide assistance to a human by moving objects to locations around the person's body. With a well chosen initial configuration, a robot can better reach locations important to an assistive task despite model error, pose…
Multi-human multi-robot (MH-MR) systems have the ability to combine the potential advantages of robotic systems with those of having humans in the loop. Robotic systems contribute precision performance and long operation on repetitive tasks…
In Human-Robot Collaboration (HRC), which encompasses physical interaction and remote cooperation, accurate estimation of human intentions and seamless switching of collaboration modes to adjust robot behavior remain paramount challenges.…
Human-robot interaction (HRI) research is progressively addressing multi-party scenarios, where a robot interacts with more than one human user at the same time. Conversely, research is still at an early stage for human-robot collaboration.…
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…
Human-Robot Collaboration (HRC) is rapidly replacing the traditional application of robotics in the manufacturing industry. Robots and human operators no longer have to perform their tasks in segregated areas and are capable of working in…
In this paper, a novel framework is presented that achieves a combined solution based on Multi-Robot Task Allocation (MRTA) and collision avoidance with respect to homogeneous measurement tasks taking place in industrial environments. The…
Collaborative robots are increasingly deployed alongside humans in factories, hospitals, schools, and other domains to enhance teamwork and efficiency. Systems that seamlessly integrate humans and robots into cohesive teams for coordinated…
Research on human-robot collaboration or human-robot teaming, has focused predominantly on understanding and enabling collaboration between a single robot and a single human. Extending human-robot collaboration research beyond the dyad,…
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…