Related papers: A Protocol for Validating Social Navigation Polici…
Autonomous shipping has recently gained much interest in the research community. However, little research focuses on inland - and port navigation, even though this is identified by countries such as Belgium and the Netherlands as an…
Robot navigation in dense human crowds poses a significant challenge due to the complexity of human behavior in dynamic and obstacle-rich environments. In this work, we propose a dynamic weight adjustment scheme using a neural network to…
As robots increasingly enter human-centered environments, they must not only be able to navigate safely around humans, but also adhere to complex social norms. Humans often rely on non-verbal communication through gestures and facial…
Human-aware robot navigation promises a range of applications in which mobile robots bring versatile assistance to people in common human environments. While prior research has mostly focused on modeling pedestrians as independent,…
In this paper, we present an approach for quantifying the propagated uncertainty of robot systems in an online and data-driven manner. Especially in Human-Robot Collaboration, keeping track of the safety compliance during run time is…
Similarly to humans, humanoid robots require posture control and balance to walk and interact with the environment. In this work posture control in perturbed conditions is evaluated as a performance test for humanoid control. A specific…
A necessary capability for humanoid robots is the ability to stand and walk while rejecting natural disturbances. Recent progress has been made using sim-to-real reinforcement learning (RL) to train such locomotion controllers, with…
Recent advancements in robotics have transformed industries such as manufacturing, logistics, surgery, and planetary exploration. A key challenge is developing efficient motion planning algorithms that allow robots to navigate complex…
Towards human-robot coexistence, socially aware navigation is significant for mobile robots. Yet existing studies on this area focus mainly on path efficiency and pedestrian collision avoidance, which are essential but represent only a…
This paper introduces a novel motion planning algorithm for stochastic scenarios. We extend the concept of a navigation function to such scenarios. Our main idea is to consider both the Gaussian distribution probabilities of the players'…
With the increasing pace of automation, modern robotic systems need to act in stochastic, non-stationary, partially observable environments. A range of algorithms for finding parameterized policies that optimize for long-term average…
A number of coordinated behaviors have been proposed for achieving specific tasks for multi-robot systems. However, since most applications require more than one such behavior, one needs to be able to compose together sequences of behaviors…
The success of collaboration between humans and robots in shared environments relies on the robot's real-time adaptation to human motion. Specifically, in Social Navigation, the agent should be close enough to assist but ready to back up to…
With the increasing presence of social robots in various environments and applications, there is an increasing need for these robots to exhibit socially-compliant behaviors. Legible motion, characterized by the ability of a robot to clearly…
Mobile robot navigation has seen extensive research in the last decades. The aspect of collaboration with robots and humans sharing workspaces will become increasingly important in the future. Therefore, the next generation of mobile robots…
We report on our effort to create a corpus dataset of different social context situations in an office setting for further disciplinary and interdisciplinary research in computer vision, psychology, and human-robot-interaction. For social…
Shared control systems aim to combine human and robot abilities to improve task performance. However, achieving optimal performance requires that the robot's level of assistance adjusts the operator's cognitive workload in response to the…
Learning strategic robot behavior -- like that required in pursuit-evasion interactions -- under real-world constraints is extremely challenging. It requires exploiting the dynamics of the interaction, and planning through both physical…
In this paper we consider a robot patrolling problem in which events arrive randomly over time at the vertices of a graph. When an event arrives it remains active for a random amount of time. If that time active exceeds a certain threshold,…
In service exchange platforms, anonymous users exchange services with each other: clients request services and are matched to servers who provide services. Because providing good-quality services requires effort, in any single interaction a…