Related papers: An Analysis of Human-Robot Information Streams to …

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…

Dynamic task allocation is an essential requirement for multi-robot systems operating in unknown dynamic environments. It allows robots to change their behavior in response to environmental changes or actions of other robots in order to…

With recent advancements in AI and computation tools, intelligent paradigms emerged to empower different fields such as healthcare robots with new capabilities. Advanced AI robotic algorithms (e.g., reinforcement learning) can be trained…

In this paper, we aim to achieve a human-robot work balance by implementing shared autonomy through a web interface. Shared autonomy integrates user input with the autonomous capabilities of the robot and therefore increases the overall…

As environments involving both robots and humans become increasingly common, so does the need to account for people during planning. To plan effectively, robots must be able to respond to and sometimes influence what humans do. This…

Shared autonomy integrates user input with robot autonomy in order to control a robot and help the user to complete a task. Our work aims to improve the performance of such a human-robot team: the robot tries to guide the human towards an…

Robot-to-human handovers often rely on static, open-loop strategies (or, at best, approaches that adapt only the position), which generally do not consider how the object will be grasped by the human, thus requiring the user to adapt. This…

Remarkable capabilities have been achieved by robotics and AI, mastering complex tasks and environments. Yet, humans often remain passive observers, fascinated but uncertain how to engage. Robots, in turn, cannot reach their full potential…

Handing objects to humans is an essential capability for collaborative robots. Previous research works on human-robot handovers focus on facilitating the performance of the human partner and possibly minimising the physical effort needed to…

Object handover is a basic, but essential capability for robots interacting with humans in many applications, e.g., caring for the elderly and assisting workers in manufacturing workshops. It appears deceptively simple, as humans perform…

Wheelchair-mounted robotic arms (and other assistive robots) should help their users perform everyday tasks. One way robots can provide this assistance is shared autonomy. Within shared autonomy, both the human and robot maintain control…

Recent advancements in robotics have increased the possibilities for integrating robotic systems into human-involved workplaces, highlighting the need to examine and optimize human-robot coordination in collaborative settings. This study…

In shared autonomy, user input is combined with semi-autonomous control to achieve a common goal. The goal is often unknown ex-ante, so prior work enables agents to infer the goal from user input and assist with the task. Such methods tend…

Shared autonomy is an operational concept in which a user and an autonomous agent collaboratively control a robotic system. It provides a number of advantages over the extremes of full-teleoperation and full-autonomy in many settings.…

Shared autonomy functions as a flexible framework that empowers robots to operate across a spectrum of autonomy levels, allowing for efficient task execution with minimal human oversight. However, humans might be intimidated by the…

This paper studies the optimal resource allocation problem within a multi-agent network composed of both autonomous agents and humans. The main challenge lies in the globally coupled constraints that link the decisions of autonomous agents…

Data-driven algorithms for human-centered autonomy use observed data to compute models of human behavior in order to ensure safety, correctness, and to avoid potential errors that arise at runtime. However, such algorithms often neglect…

In this work, we propose a novel shared autonomy framework to operate articulated robots. We provide strategies to design both the task-oriented hierarchical planning and policy shaping algorithms for efficient human-robot interactions in…

Despite cobots have high potential in bringing several benefits in the manufacturing and logistic processes, but their rapid (re-)deployment in changing environments is still limited. To enable fast adaptation to new product demands and to…

In human-robot teams, human situational awareness is the operator's conscious knowledge of the team's states, actions, plans and their environment. Appropriate human situational awareness is critical to successful human-robot collaboration.…