Related papers: It Takes Two: Learning to Plan for Human-Robot Coo…
This paper proposes a task-specific trajectory optimization framework for human-robot collaboration, enabling adaptive motion planning based on human interaction dynamics. Unlike conventional approaches that rely on predefined desired…
In this paper, a robot navigating an environment shared with humans is considered, and a cost function that can be exploited in $\text{RRT}^\text{X}$, a randomized sampling-based replanning algorithm that guarantees asymptotic optimality,…
This work presents a decentralized motion planning framework for addressing the task of multi-robot navigation using deep reinforcement learning. A custom simulator was developed in order to experimentally investigate the navigation problem…
We want a multi-robot team to complete complex tasks in minimum time where the locations of task-relevant objects are not known. Effective task completion requires reasoning over long horizons about the likely locations of task-relevant…
We devise a cooperative planning framework to generate optimal trajectories for a tethered robot duo, who is tasked to gather scattered objects spread in a large area using a flexible net. Specifically, the proposed planning framework first…
Handing objects to humans is an essential capability for collaborative robots. Previous research works on human-robot handovers focus on facilitating the performance of the human partner and possibly minimising the physical effort needed to…
In Human-Robot Collaboration, safety mechanisms such as Speed and Separation Monitoring and Power and Force Limitation dynamically adjust the robot's speed based on human proximity. While essential for risk reduction, these mechanisms…
We focus on human-robot collaborative transport, in which a robot and a user collaboratively move an object to a goal pose. In the absence of explicit communication, this problem is challenging because it demands tight implicit coordination…
Industrial robots are widely used in various manufacturing environments due to their efficiency in doing repetitive tasks such as assembly or welding. A common problem for these applications is to reach a destination without colliding with…
In warehouse and manufacturing environments, manipulation platforms are frequently deployed at conveyor belts to perform pick and place tasks. Because objects on the conveyor belts are moving, robots have limited time to pick them up. This…
We investigate the problem of multi-robot coordinated planning in environments where the robots may have to operate in close proximity to each other. We seek computationally efficient planners that ensure safe paths and adherence to…
This paper investigates the task coordination of multi-robot where each robot has a private individual temporal logic task specification; and also has to jointly satisfy a globally given collaborative temporal logic task specification. To…
Automated scheduling is potentially a very useful tool for facilitating efficient, intuitive interactions between a robot and a human teammate. However, a current gapin automated scheduling is that it is not well understood how to best…
Collaborative robotics cells leverage heterogeneous agents to provide agile production solutions. Effective coordination is essential to prevent inefficiencies and risks for human operators working alongside robots. This paper proposes a…
Efficient multi-robot task allocation (MRTA) is fundamental to various time-sensitive applications such as disaster response, warehouse operations, and construction. This paper tackles a particular class of these problems that we call…
The guiding task of a mobile robot requires not only human-aware navigation, but also appropriate yet timely interaction for active instruction. State-of-the-art tour-guide models limit their socially-aware consideration to adapting to…
We propose a probabilistic shared-control solution for navigation, called Robot Trajectron V2 (RT-V2), that enables accurate intent prediction and safe, effective assistance in human-robot interaction. RT-V2 jointly models a user's…
Understanding human perceptions of robot performance is crucial for designing socially intelligent robots that can adapt to human expectations. Current approaches often rely on surveys, which can disrupt ongoing human-robot interactions. As…
The increasing presence of robots alongside humans, such as in human-robot teams in manufacturing, gives rise to research questions about the kind of behaviors people prefer in their robot counterparts. We term actions that support…
Trajectory Planning is a crucial word in Modern & Advanced Robotics. It's a way of generating a smooth and feasible path for the robot to follow over time. The process primarily takes several factors to generate the path, such as velocity,…