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In this paper, we present a framework for trust-aware sequential decision-making in a human-robot team. We model the problem as a finite-horizon Markov Decision Process with a reward-based performance metric, allowing the robotic agent to…

Humans often work closely together and relay a wealth of information through physical interaction. Robots, on the other hand, are not yet able to work similarly closely with humans and to effectively convey information when engaging in…

Cooperation in multi-agent and multi-robot systems can help agents build various formations, shapes, and patterns presenting corresponding functions and purposes adapting to different situations. Relationships between agents such as their…

Human-robot interaction and game theory have developed distinct theories of trust for over three decades in relative isolation from one another. Human-robot interaction has focused on the underlying dimensions, layers, correlates, and…

For decades, robotics researchers have pursued various tasks for multi-robot systems, from cooperative manipulation to search and rescue. These tasks are multi-robot extensions of classical robotic tasks and often optimized on dimensions…

We present a real-time, data-driven algorithm to enhance the social-invisibility of robots within crowds. Our approach is based on prior psychological research, which reveals that people notice and--importantly--react negatively to groups…

Previous humanoid robot research works treat the robot as a bipedal mobile manipulation platform, where only the feet and hands contact the environment. However, we humans use all body parts to interact with the world, e.g., we sit in…

Physical interactions are inevitable part of human-robot collaboration tasks and rather than exhibiting simple reactive behaviors to human interactions, collaborative robots need to be endowed with intuitive behaviors. This paper proposes a…

The use of social, anthropomorphic robots to support humans in various industries has been on the rise. During Human-Robot Interaction (HRI), physically interactive non-verbal behaviour is key for more natural interactions. Handshaking is…

Motivated by the vision of integrating mobile robots closer to humans in warehouses, hospitals, manufacturing plants, and the home, we focus on robot navigation in dynamic and spatially constrained environments. Ensuring human safety,…

To facilitate effective human-robot interaction (HRI), trust-aware HRI has been proposed, wherein the robotic agent explicitly considers the human's trust during its planning and decision making. The success of trust-aware HRI depends on…

This study investigates whether the opinions of robotic agents can influence human decision-making when robots display value awareness (i.e., the capability of understanding human preferences and prioritizing them in decision-making). We…

We describe a shared control methodology that can, without knowledge of the task, be used to improve a human's control of a dynamic system, be used as a training mechanism, and be used in conjunction with Imitation Learning to generate…

Application of humanoid robots has been common in the field of healthcare and education. It has been recurrently used to improve social behavior and mollify distress level among children with autism, cancer and cerebral palsy. This article…

In this paper, we consider the problem of designing collision-free, dynamically feasible, and socially-aware trajectories for robots operating in environments populated by humans. We define trajectories to be social-aware if they do not…

Posture control and balance are basic requirements for a humanoid robot performing motor tasks like walking and interacting with the environment. For this reason, posture control is one of the elements taken into account when evaluating the…

The 'intuitive' trust people feel when encountering robots in public spaces is a key determinant of their willingness to cooperate with these robots. We conducted four experiments to study this topic in the context of peacekeeping robots.…

Collaborative robots require effective human intention estimation to safely and smoothly work with humans in less structured tasks such as industrial assembly, where human intention continuously changes. We propose the concept of intention…

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…

Mirroring non-verbal social cues such as affect or movement can enhance human-human and human-robot interactions in the real world. The robotic platforms and control methods also impact people's perception of human-robot interaction.…