Related papers: Robust Planning for Human-Robot Joint Tasks with E…
We present a substantial extension of our Human-Aware Task Planning framework, tailored for scenarios with intermittent shared execution experiences and significant belief divergence between humans and robots, particularly due to the…
Intelligent robots are redefining a multitude of critical domains but are still far from being fully capable of assisting human peers in day-to-day tasks. An important requirement of collaboration is for each teammate to maintain and…
Trust between team members is an essential requirement for any successful cooperation. Thus, engendering and maintaining the fellow team members' trust becomes a central responsibility for any member trying to not only successfully…
Intelligent robots and machines are becoming pervasive in human populated environments. A desirable capability of these agents is to respond to goal-oriented commands by autonomously constructing task plans. However, such autonomy can add…
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…
When agents collaborate on a task, it is important that they have some shared mental model of the task routines -- the set of feasible plans towards achieving the goals. However, in reality, situations often arise that such a shared mental…
Human-robot teaming is one of the most important applications of artificial intelligence in the fast-growing field of robotics. For effective teaming, a robot must not only maintain a behavioral model of its human teammates to project the…
Efficient and robust task planning for a human-robot collaboration (HRC) system remains challenging. The human-aware task planner needs to assign jobs to both robots and human workers so that they can work collaboratively to achieve better…
Understanding the intentions of human teammates is critical for safe and effective human-robot interaction. The canonical approach for human-aware robot motion planning is to first predict the human's goal or path, and then construct a…
Producing robust task plans in human-robot collaborative missions is a critical activity in order to increase the likelihood of these missions completing successfully. Despite the broad research body in the area, which considers different…
We study a human-robot collaborative transportation task in presence of obstacles. The task for each agent is to carry a rigid object to a common target position, while safely avoiding obstacles and satisfying the compliance and actuation…
Adaptive task planning is fundamental to ensuring effective and seamless human-robot collaboration. This paper introduces a robot task planning framework that takes into account both human leading/following preferences and performance,…
We investigate the real-time estimation of human situation awareness using observations from a robot teammate with limited visibility. In human factors and human-autonomy teaming, it is recognized that individuals navigate their…
In human-robot teams where agents collaborate together, there needs to be a clear allocation of tasks to agents. Task allocation can aid in achieving the presumed benefits of human-robot teams, such as improved team performance. Many task…
Developing robots that can assist humans efficiently, safely, and adaptively is crucial for real-world applications such as healthcare. While previous work often assumes a centralized system for co-optimizing human-robot interactions, we…
Among the many anticipated roles for robots in the future is that of being a human teammate. Aside from all the technological hurdles that have to be overcome with respect to hardware and control to make robots fit to work with humans, the…
We present a framework for learning human user models from joint-action demonstrations that enables the robot to compute a robust policy for a collaborative task with a human. The learning takes place completely automatically, without any…
For planning an assembly of a product from a given set of parts, robots necessitate certain cognitive skills: high-level planning is needed to decide the order of actuation actions, while geometric reasoning is needed to check the…
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…
Human-robot teams have the ability to perform better across various tasks than human-only and robot-only teams. However, such improvements cannot be realized without proper task allocation. Trust is an important factor in teaming…