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Human-swarm interaction has recently gained attention due to its plethora of new applications in disaster relief, surveillance, rescue, and exploration. However, if the task difficulty increases, the performance of the human operator…
A widely accepted explanation for robots planning overcautious or overaggressive trajectories alongside human is that the crowd density exceeds a threshold such that all feasible trajectories are considered unsafe -- the freezing robot…
Multiple levels of safety measures are required by multiple interaction modes which collaborative robots need to perform industrial tasks with human co-workers. We develop three independent modules to account for safety in different types…
Advances in sensing and learning algorithms have led to increasingly mature solutions for human detection by robots, particularly in selected use-cases such as pedestrian detection for self-driving cars or close-range person detection in…
Teleoperated humanoid robots hold significant potential as physical avatars for humans in hazardous and inaccessible environments, with the goal of channeling human intelligence and sensorimotor skills through these robotic counterparts.…
Collaborative space robots are an emerging technology with high impact as robots facilitate servicing functions in collaboration with astronauts with higher precision during lengthy tasks, under tight operational schedules, with less risk…
Technological progress increasingly envisions the use of robots interacting with people in everyday life. Human-robot collaboration (HRC) is the approach that explores the interaction between a human and a robot, during the completion of a…
Despite significant improvements in robot capabilities, they are likely to fail in human-robot collaborative tasks due to high unpredictability in human environments and varying human expectations. In this work, we explore the role of…
Complex tasks require human collaboration since robots do not have enough dexterity. However, robots are still used as instruments and not as collaborative systems. We are introducing a framework to ensure safety in a human-robot…
This paper comprehensively surveys research trends in imitation learning for contact-rich robotic tasks. Contact-rich tasks, which require complex physical interactions with the environment, represent a central challenge in robotics due to…
Humans have internal models of robots (like their physical capabilities), the world (like what will happen next), and their tasks (like a preferred goal). However, human internal models are not always perfect: for example, it is easy to…
Personal mobile robotic assistants are expected to find wide applications in industry and healthcare. For example, people with limited mobility can benefit from robots helping with daily tasks, or construction workers can have robots…
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.…
Mobile robots operating in crowded environments require the ability to navigate among humans and surrounding obstacles efficiently while adhering to safety standards and socially compliant mannerisms. This scale of the robot navigation…
The co-adaptation of robots has been a long-standing research endeavour with the goal of adapting both body and behaviour of a system for a given task, inspired by the natural evolution of animals. Co-adaptation has the potential to…
Collaboration is a central theme in multi-robot systems as tasks and demands increasingly require capabilities that go beyond what any one individual robot possesses. Yet, despite extensive work on cooperative control and coordinated…
We present a Pedestrian Dominance Model (PDM) to identify the dominance characteristics of pedestrians for robot navigation. Through a perception study on a simulated dataset of pedestrians, PDM models the perceived dominance levels of…
In human-robot collaboration, the objectives of the human are often unknown to the robot. Moreover, even assuming a known objective, the human behavior is also uncertain. In order to plan a robust robot behavior, a key preliminary question…
Robot navigation in human semi-static and crowded environments can lead to the freezing problem, where the robot can not move due to the presence of humans standing on its path and no other path is available. Classical approaches of robot…
This work addresses the problem of multi-robot coordination under unknown robot transition models, ensuring that tasks specified by Time Window Temporal Logic are satisfied with user-defined probability thresholds. We present a bi-level…