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This report describes a new experimental setup for human-in-the-loop simulations. A force feedback simulator with four axis motion has been setup for real-time driving experiments. The simulator will move to simulate the forces a driver…
An outstanding challenge for the widespread deployment of robotic systems like autonomous vehicles is ensuring safe interaction with humans without sacrificing performance. Existing safety methods often neglect the robot's ability to learn…
Robots for physical Human-Robot Collaboration (pHRC) systems need to change their behavior and how they operate in consideration of several factors, such as the performance and intention of a human co-worker and the capabilities of…
Limit cycles are self-sustained, closed trajectories in phase space representing (un)-stable, periodic behavior in nonlinear dynamical systems. They underpin diverse natural phenomena, from neuronal firing patterns to engineering…
This project aims to motivate research in competitive human-robot interaction by creating a robot competitor that can challenge human users in certain scenarios such as physical exercise and games. With this goal in mind, we introduce the…
Human-robot co-carrying tasks reveal their potential in both industrial and everyday applications by leveraging the strengths of both parties. Effective control of robots in these tasks requires managing the energy level in the closed-loop…
Mobile robots are ubiquitous. Such vehicles benefit from well-designed and calibrated control algorithms ensuring their task execution under precise uncertainty bounds. Yet, in tasks involving humans in the loop, such as elderly or mobility…
Autonomous manipulation systems have achieved remarkable capabilities, yet the integration of human expertise with diffusion-based policies in shared control remains relatively unexplored. In this paper, we propose Human-In-The-Loop…
This paper is concerned with a bilinear control problem for enhancing convection-cooling via an incompressible velocity field. Both optimal open-loop control and closed-loop feedback control designs are addressed. First and second order…
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…
Animal brains exhibit remarkable efficiency in perception and action, while being robust to both external and internal perturbations. The means by which brains accomplish this remains, for now, poorly understood, hindering our understanding…
This note presents an embedded automatic control strategy for a low consumption vehicle equipped with an "on/off" engine. The main difficulties are the hybrid nature of the dynamics, the non smoothness of the dynamics of each mode, the…
This paper proposes a feedback control perspective for Human-Earth Systems (HESs) which essentially are complex systems that capture the interactions between humans and nature. Recent attention in HES research has been directed towards…
Swarm robotics is a study of simple robots that exhibit complex behaviour only by interacting locally with other robots and their environment. The control in swarm robotics is mainly distributed whereas centralised control is widely used in…
Self-organized robots may develop attracting states within the sensorimotor loop, that is within the phase space of neural activity, body, and environmental variables. Fixpoints, limit cycles, and chaotic attractors correspond in this…
Pedestrian behavior prediction is one of the major challenges for intelligent driving systems. Pedestrians often exhibit complex behaviors influenced by various contextual elements. To address this problem, we propose BiPed, a multitask…
Traffic control management at intersections, a challenging and complex field of study, aims to attain a balance between safety and efficient traffic control. Nowadays, traffic control at intersections is typically done by traffic light…
Air hockey demands split-second decisions at high puck velocities, a challenge we address with a compact network of spiking neurons running on a mixed-signal analog/digital neuromorphic processor. By co-designing hardware and learning…
Social interaction dynamics are a special type of group interactions that play a large part in our everyday lives. They dictate how and with whom a certain individual will interact. One of such interactions can be termed "avoidance…
Event-triggered and self-triggered control have recently been proposed as implementation strategies that considerably reduce the resources required for control. Although most of the work so far has focused on closing a single control loop,…