Related papers: Human operator cognitive availability aware Mixed-…
This paper presents an Expert-guided Mixed-Initiative Control Switcher (EMICS) for remotely operated mobile robots. The EMICS enables switching between different levels of autonomy during task execution initiated by either the human…
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…
Using different Levels of Autonomy (LoA), a human operator can vary the extent of control they have over a robot's actions. LoAs enable operators to mitigate a robot's performance degradation or limitations in the its autonomous…
The interaction and collaboration between humans and multiple robots represent a novel field of research known as human multi-robot systems. Adequately designed systems within this field allow teams composed of both humans and robots to…
Robots assist in many areas that are considered unsafe for humans to operate. For instance, in handling pandemic diseases such as the recent Covid-19 outbreak and other outbreaks like Ebola, robots can assist in reaching areas dangerous for…
This paper investigates how trust, shared understanding between a human operator and a robot, and the Locus of Control (LoC) personality trait, evolve and affect Human-Robot Interaction (HRI) in mixed-initiative robotic systems. As such…
Assistive machines endow people with limited mobility the opportunity to live more independently. However, operating these machines poses risks to the safety of the human operator as well as the surrounding environment. Thus, proper user…
Remotely operating vehicles utilizes the benefits of vehicle automation when fully automated driving is not yet possible. A human operator ensures safety and availability from afar and supports the vehicle automation when its capabilities…
Human-AI collaboration is typically offered in one of two of user control levels: guidance, where the AI provides suggestions and the human makes the final decision, and delegation, where the AI acts autonomously within user-defined…
This paper considers the motion control and task planning problem of mobile robots under complex high-level tasks and human initiatives. The assigned task is specified as Linear Temporal Logic (LTL) formulas that consist of hard and soft…
Due to the potentially large number of units involved, the interaction with a multi-robot system is likely to exceed the limits of the span of apprehension of any individual human operator. In previous work, we studied how this issue can be…
A fruitful collaboration is based on the mutual knowledge of each other skills and on the possibility of communicating their own limits and proposing alternatives to adapt the execution of a task to the capabilities of the collaborators.…
Effective robotic systems for long-horizon human-robot collaboration must adapt to a wide range of human partners, whose physical behavior, willingness to assist, and understanding of the robot's capabilities may change over time. This…
For mixed-initiative control between cyber-physical systems (CPS) and its users, it is still an open question how machines can safely hand over control to humans. In this work, we propose a concept to provide technological support that uses…
Teleoperation is increasingly recognized as a viable solution for deploying robots in hazardous environments. Controlling a robot to perform a complex or demanding task may overload operators resulting in poor performance. To design a robot…
To enable autonomous driving in interactive traffic scenarios, various model predictive control (MPC) formulations have been proposed, each employing different interaction models. While higher-fidelity models enable more intelligent…
This paper investigates learning effects and human operator training practices in variable autonomy robotic systems. These factors are known to affect performance of a human-robot system and are frequently overlooked. We present the results…
Long-horizon navigation in complex urban environments relies heavily on continuous human operation, which leads to fatigue, reduced efficiency, and safety concerns. Shared autonomy, where a Vision-Language AI agent and a human operator…
Multi-robot teams can achieve more dexterous, complex and heavier payload tasks than a single robot, yet effective collaboration is required. Multi-robot collaboration is extremely challenging due to the different kinematic and dynamics…
The deployment of robots in industrial and civil scenarios is a viable solution to protect operators from danger and hazards. Shared autonomy is paramount to enable remote control of complex systems such as legged robots, allowing the…