Related papers: SERA: Safe and Efficient Reactive Obstacle Avoidan…
It is well-known that a deep understanding of co-workers' behavior and preference is important for collaboration effectiveness. In this work, we present a method to accomplish smooth human-robot collaboration in close proximity by taking…
This paper considers a scenario where a robot and a human operator share the same workspace, and the robot is able to both carry out autonomous tasks and physically interact with the human in order to achieve common goals. In this context,…
In this work, we propose a new approach that combines data from multiple sensors for reliable obstacle avoidance. The sensors include two depth cameras and a LiDAR arranged so that they can capture the whole 3D area in front of the robot…
Collision avoidance algorithms are essential for safe and efficient robot operation among pedestrians. This work proposes using deep reinforcement (RL) learning as a framework to model the complex interactions and cooperation with nearby,…
We present a fully distributed collision avoidance algorithm based on convex optimization for a team of mobile robots. This method addresses the practical case in which agents sense each other via measurements from noisy on-board sensors…
We develop an autonomous navigation algorithm for a robot operating in two-dimensional environments containing obstacles, with arbitrary non-convex shapes, which can be in close proximity with each other, as long as there exists at least…
Developing a safe, stable, and efficient obstacle avoidance policy in crowded and narrow scenarios for multiple robots is challenging. Most existing studies either use centralized control or need communication with other robots. In this…
Human-robot interaction will play an essential role in various industries and daily tasks, enabling robots to effectively collaborate with humans and reduce their physical workload. Most of the existing approaches for physical human-robot…
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…
The need to increase the flexibility of production lines is calling for robots to collaborate with human workers. However, existing interactive industrial robots only guarantee intrinsic safety (reduce collision impact), but not interactive…
In recent years, the mobile robot has been considerable attention to researchers for its application in various environments. For a mobile robot navigating its way from starting point to a goal point while traversing through deterrents,…
Wheeled-legged robots combine the energy efficiency of wheeled locomotion with the terrain adaptability of legged systems, making them promising platforms for agile mobility in complex and dynamic environments. However, enabling…
Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…
Aerial robots have the potential to play a crucial role in assisting humans with complex and dangerous tasks. Nevertheless, the future industry demands innovative solutions to streamline the interaction process between humans and drones to…
In a Human-Robot Cooperation (HRC) environment, safety and efficiency are the two core properties to evaluate robot performance. However, safety mechanisms usually hinder task efficiency since human intervention will cause backup motions…
The new paradigm of human-robot collaboration has led to the creation of shared work environments in which humans and robots work in close contact with each other. Consequently, the safety regulations have been updated addressing these new…
Human-robot collision avoidance is a key in collaborative robotics and in the framework of Industry 4.0. It plays an important role for achieving safety criteria while having humans and machines working side-by-side in unstructured and…
Passivity is necessary for robots to fluidly collaborate and interact with humans physically. Nevertheless, due to the unconstrained nature of passivity-based impedance control laws, the robot is vulnerable to infeasible and unsafe…
We focus on the problem of how we can enable a robot to collaborate seamlessly with a human partner, specifically in scenarios where preexisting data is sparse. Much prior work in human-robot collaboration uses observational models of…
Transporting large and heavy objects can benefit from Human-Robot Collaboration (HRC), increasing the contribution of robots to our daily tasks and reducing the risk of injuries to the human operator. This approach usually posits the human…