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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…
Studies of human-robot interaction in dynamic and unstructured environments show that as more advanced robotic capabilities are deployed, the need for cooperative competencies to support collaboration with human problem-holders increases.…
We claim that navigation in human environments can be viewed as cooperative activity especially in constrained situations. Humans concurrently aid and comply with each other while moving in a shared space. Cooperation helps pedestrians to…
The representation of the knowledge needed by a robot to perform complex tasks is restricted by the limitations of perception. One possible way of overcoming this situation and designing "knowledgeable" robots is to rely on the interaction…
Human robot collaboration (HRC) is becoming increasingly important as the paradigm of manufacturing is shifting from mass production to mass customization. The introduction of HRC can significantly improve the flexibility and intelligence…
This is a preprint of a review article that has not yet undergone peer review. The content is intended for early dissemination and academic discussion. The final version may differ upon formal publication. As the Fourth Industrial…
While autonomous multi-robots can achieve safe and coordinated navigation, they often struggle to adapt to unforeseen conditions and to capture operator-driven objectives in unstructured environments. We present a Virtual Reality (VR)-based…
The field of Human-Robot Collaboration (HRC) has seen a considerable amount of progress in recent years. Thanks in part to advances in control and perception algorithms, robots have started to work in increasingly unstructured environments,…
As the number of Persons with Disabilities (PWD), particularly those with one or more physical impairments, increases, there is an increasing demand for assistive robotic technologies that can support independent mobility in the built…
In this paper, we present a planning framework that uses a combination of implicit (robot motion) and explicit (visual/audio/haptic feedback) communication during mobile robot navigation. First, we developed a model that approximates both…
Human-robot interaction requires a common understanding of the operational environment, which can be provided by a representation that blends geometric and symbolic knowledge: a semantic map. Through a semantic map the robot can interpret…
In this paper, we present a planning system based on semantic reasoning for a general-purpose service robot, which is aimed at behaving more intelligently in domains that contain incomplete information, under-specified goals, and dynamic…
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…
Enabling humans and robots to collaborate effectively requires purposeful communication and an understanding of each other's affordances. Prior work in human-robot collaboration has incorporated knowledge of human affordances, i.e., their…
The deployment of autonomous service robots in human-centric environments is hindered by a critical gap in perception and planning. Traditional navigation systems rely on expensive LiDARs that, while geometrically precise, are semantically…
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…
Mapping and navigation have gone hand-in-hand since long before robots existed. Maps are a key form of communication, allowing someone who has never been somewhere to nonetheless navigate that area successfully. In the context of…
In robotics, ensuring that autonomous systems are comprehensible and accountable to users is essential for effective human-robot interaction. This paper introduces a novel approach that integrates user-centered design principles directly…
Spatial computing -- the ability of devices to be aware of their surroundings and to represent this digitally -- offers novel capabilities in human-robot interaction. In particular, the combination of spatial computing and egocentric…
As robotic products become more integrated into daily life, there is a greater need to understand authentic and real-world human-robot interactions to inform product design. Across many domestic, educational, and public settings, robots…