Related papers: Providers-Clients-Robots: Framework for spatial-se…
This paper presents a comprehensive framework to enhance Human-Robot Collaboration (HRC) in real-world scenarios. It introduces a formalism to model articulated tasks, requiring cooperation between two agents, through a smaller set of…
This paper presents an open-source, lightweight, yet comprehensive software framework, named RPC, which integrates physics-based simulators, planning and control libraries, debugging tools, and a user-friendly operator interface. RPC…
To enable robots to comprehend high-level human instructions and perform complex tasks, a key challenge lies in achieving comprehensive scene understanding: interpreting and interacting with the 3D environment in a meaningful way. This…
Enriching the robot representation of the operational environment is a challenging task that aims at bridging the gap between low-level sensor readings and high-level semantic understanding. Having a rich representation often requires…
We propose a shared semantic map architecture to construct and configure Model Predictive Controllers (MPC) dynamically, that solve navigation problems for multiple robotic agents sharing parts of the same environment. The navigation task…
Autonomous mobile service robots, like lawnmowers or cleaning robots, operating in human-populated environments need to reason about local human-human interactions to support safe and socially aware navigation while fulfilling their tasks.…
Socially aware robot navigation is a planning paradigm where the robot navigates in human environments and tries to adhere to social constraints while interacting with the humans in the scene. These navigation strategies were further…
Robotic navigation in environments shared with other robots or humans remains challenging because the intentions of the surrounding agents are not directly observable and the environment conditions are continuously changing. Local…
As the use of Augmented Reality (AR) to enhance interactions between human agents and robotic systems in a work environment continues to grow, robots must communicate their intents in informative yet straightforward ways. This improves the…
Participatory Design (PD) methods are effective in understanding older adults' perspectives, concerns, and wishes and generating ideas for new intelligent aids. The aim of our study was first to map perceptions and explore the needs of…
Human and robot partners increasingly need to work together to perform tasks as a team. Robots designed for such collaboration must reason about how their task-completion strategies interplay with the behavior and skills of their human team…
In industrial environments, predicting human actions is essential for ensuring safe and effective collaboration between humans and robots. This paper introduces a perception framework that enables mobile robots to understand and share…
We present a novel framework for estimating accident-prone regions in everyday indoor scenes, aimed at improving real-time risk awareness in service robots operating in human-centric environments. As robots become integrated into daily…
Robots navigating dynamic, cluttered, and semantically complex environments must integrate perception, symbolic reasoning, and spatial planning to generalize across diverse layouts and object categories. Existing methods often rely on…
In this paper, we develop a control framework for the coordination of multiple robots as they navigate through crowded environments. Our framework comprises of a local model predictive control (MPC) for each robot and a social long…
We present HARMONIC, a framework for implementing cognitive robots that transforms general-purpose robots into trusted teammates capable of complex decision-making, natural communication and human-level explanation. The framework supports…
Human-robot interaction is increasingly moving toward multi-robot, socially grounded environments. Existing systems struggle to integrate multimodal perception, embodied expression, and coordinated decision-making in a unified framework.…
When mobile robots maneuver near people, they run the risk of rudely blocking their paths; but not all people behave the same around robots. People that have not noticed the robot are the most difficult to predict. This paper investigates…
This paper presents a planning algorithm designed to improve cooperative robot behavior concerning human comfort during forceful human-robot physical interaction. Particularly, we are interested in planning for object grasping and…
As more robots are being deployed into human environments, a human-aware navigation planner needs to handle multiple contexts that occur in indoor and outdoor environments. In this paper, we propose a tunable human-aware robot navigation…