Related papers: Human-Aware Navigation Planner for Diverse Human-R…

Existing autonomous robot navigation systems allow robots to move from one point to another in a collision-free manner. However, when facing new environments, these systems generally require re-tuning by expert roboticists with a good…

Human motion is stochastic and ensuring safe robot navigation in a pedestrian-rich environment requires proactive decision-making. Past research relied on incorporating deterministic future states of surrounding pedestrians which can be…

Minimising the discomfort caused by robots when navigating in social situations is crucial for them to be accepted. The paper presents a machine learning-based framework that bootstraps existing one-dimensional datasets to generate a cost…

Navigating robots discreetly in human work environments while considering the possible privacy implications of robotic tasks presents significant challenges. Such scenarios are increasingly common, for instance, when robots transport…

The popularity of mobile robots has been steadily growing, with these robots being increasingly utilized to execute tasks previously completed by human workers. For bipedal robots to see this same success, robust autonomous navigation…

Mobile robots are traditionally developed to be reactive and avoid collisions with surrounding humans, often moving in unnatural ways without following social protocols, forcing people to behave very differently from human-human interaction…

Social navigation for bipedal robots remains relatively unexplored due to the highly complex, nonlinear dynamics of bipedal locomotion. This study presents a preliminary exploration of social navigation for bipedal robots in a human crowded…

This paper addresses a safe planning and control problem for mobile robots operating in communication- and sensor-limited dynamic environments. In this case the robots cannot sense the objects around them and must instead rely on…

In this paper we address mobile manipulation planning problems in the presence of sensing and environmental uncertainty. In particular, we consider mobile sensing manipulators operating in environments with unknown geometry and uncertain…

In human-robot collaboration (HRC), it is crucial for robot agents to consider humans' knowledge of their surroundings. In reality, humans possess a narrow field of view (FOV), limiting their perception. However, research on HRC often…

In order to ensure efficient flow of goods in an automated warehouse and to guarantee its continuous distribution to/from picking stations in an effective way, decisions about which goods will be delivered to which particular picking…

Humanoid robots offer significant advantages for search and rescue tasks, thanks to their capability to traverse rough terrains and perform transportation tasks. In this study, we present a task and motion planning framework for search and…

A robot as a coworker or a cohabitant is becoming mainstream day-by-day with the development of low-cost sophisticated hardware. However, an accompanying software stack that can aid the usability of the robotic hardware remains the…

Real world visual navigation requires robots to operate in unfamiliar, human-occupied dynamic environments. Navigation around humans is especially difficult because it requires anticipating their future motion, which can be quite…

Humanoid robots, designed to operate in human-centric environments, serve as a fundamental platform for a broad range of tasks. Although humanoid robots have been extensively studied for decades, a majority of existing humanoid robots still…

Reliable localization is crucial for autonomous robots to navigate efficiently and safely. Some navigation methods can plan paths with high localizability (which describes the capability of acquiring reliable localization). By following…

In this paper, we investigate the possibility of applying plan transformations to general manipulation plans in order to specialize them to the specific situation at hand. We present a framework for optimizing execution and achieving higher…

Developing robots that can assist humans efficiently, safely, and adaptively is crucial for real-world applications such as healthcare. While previous work often assumes a centralized system for co-optimizing human-robot interactions, we…

For safe navigation in dynamic uncertain environments, robotic systems rely on the perception and prediction of other agents. Particularly, in occluded areas where cameras and LiDAR give no data, the robot must be able to reason about…

There are many challenges for robot navigation in densely populated dynamic environments. This paper presents a survey of the path planning methods for robot navigation in dense environments. Particularly, the path planning in the…