Related papers: Behavior-Tree-Based Person Search for Symbiotic Au…
Understanding the movement behaviours of individuals and the way they react to the external world is a key component of any problem that involves the modelling of human dynamics at a physical level. In particular, it is crucial to capture…
Rehabilitation robots are often used in game-like interactions for rehabilitation to increase a person's motivation to complete rehabilitation exercises. By adjusting exercise difficulty for a specific user throughout the exercise…
Robots need task planning to sequence and execute actions toward achieving their goals. On the other hand, Behavior Trees provide a mathematical model for specifying plan execution in an intrinsically composable, reactive, and robust way.…
While individual robots are becoming increasingly capable, with new sensors and actuators, the complexity of expected missions increased exponentially in comparison. To cope with this complexity, heterogeneous teams of robots have become a…
We introduce a novel framework for automatic behavior tree (BT) construction in heterogeneous multi-robot systems, designed to address the challenges of adaptability and robustness in dynamic environments. Traditional robots are limited by…
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…
This paper presents the design of deep learning architectures which allow to classify the social relationship existing between two people who are walking in a side-by-side formation into four possible categories --colleagues, couple, family…
"Looking for things" is a mundane but critical task we repeatedly carry on in our daily life. We introduce a method to develop a human character capable of searching for a randomly located target object in a detailed 3D scene using its…
As robots become increasingly complex, they must explain their behaviors to gain trust and acceptance. However, it may be difficult through verbal explanation alone to fully convey information about past behavior, especially regarding…
Learning collaborative behaviors is essential for multi-agent systems. Traditionally, multi-agent reinforcement learning solves this implicitly through a joint reward and centralized observations, assuming collaborative behavior will…
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…
Our goal is to model and experimentally assess trust evolution to predict future beliefs and behaviors of human-robot teams in dynamic environments. Research suggests that maintaining trust among team members in a human-robot team is vital…
Many species in nature demonstrate symbiotic relationships leading to emergent behaviors through cooperation, which are sometimes beyond the scope of the partnerships within the same species. These symbiotic relationships are classified as…
This paper proposes an online path planning and motion generation algorithm for heterogeneous robot teams performing target search in a real-world environment. Path selection for each robot is optimized using an information-theoretic…
In this paper, we show how a planning algorithm can be used to automatically create and update a Behavior Tree (BT), controlling a robot in a dynamic environment. The planning part of the algorithm is based on the idea of back chaining.…
We present a Learning from Demonstration method for teaching robots to perform search strategies imitated from humans in scenarios where alignment tasks fail due to position uncertainty. The method utilizes human demonstrations to learn…
Many collaborative human-robot tasks require the robot to stay safe and work efficiently around humans. Since the robot can only stay safe with respect to its own model of the human, we want the robot to learn a good model of the human in…
Research currently being conducted on the use of robots as human labor support technology. In particular, the service industry needs to allocate more manpower, and it will be important for robots to support people. This study focuses on…
Behavior sequences, composed of executable steps, serve as the operational foundation for multi-constraint planning problems such as travel planning. In such tasks, each planning step is not only constrained locally but also influenced by…
Autonomous vehicles need to abide by the same rules that humans follow. Some of these traffic rules may depend on multiple agents or time. Especially in situations with traffic participants that interact densely, the interactions with other…