Related papers: Coordinated Multi-Robot Shared Autonomy Based on S…
Corrective Shared Autonomy is a method where human corrections are layered on top of an otherwise autonomous robot behavior. Specifically, a Corrective Shared Autonomy system leverages an external controller to allow corrections across a…
Many tasks, particularly those involving interaction with the environment, are characterized by high variability, making robotic autonomy difficult. One flexible solution is to introduce the input of a human with superior experience and…
Shared autonomy allows for combining the global planning capabilities of a human operator with the strengths of a robot such as repeatability and accurate control. In a real-time teleoperation setting, one possibility for shared autonomy is…
In this paper, we aim to achieve a human-robot work balance by implementing shared autonomy through a web interface. Shared autonomy integrates user input with the autonomous capabilities of the robot and therefore increases the overall…
Wheelchair-mounted robotic arms (and other assistive robots) should help their users perform everyday tasks. One way robots can provide this assistance is shared autonomy. Within shared autonomy, both the human and robot maintain control…
Shared autonomy integrates user input with robot autonomy in order to control a robot and help the user to complete a task. Our work aims to improve the performance of such a human-robot team: the robot tries to guide the human towards an…
In this paper, we consider the problem of allocating human operator assistance in a system with multiple autonomous robots. Each robot is required to complete independent missions, each defined as a sequence of tasks. While executing a…
Human-robot shared control, which integrates the advantages of both humans and robots, is an effective approach to facilitate efficient surgical operation. Learning from demonstration (LfD) techniques can be used to automate some of the…
Many industrial tasks-such as sanding, installing fasteners, and wire harnessing-are difficult to automate due to task complexity and variability. We instead investigate deploying robots in an assistive role for these tasks, where the robot…
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…
Assistive robots enable people with disabilities to conduct everyday tasks on their own. However, these tasks can be complex, containing both coarse reaching motions and fine-grained manipulation. For example, when eating, not only does one…
Humans show specialized strategies for efficient collaboration. Transferring similar strategies to humanoid robots can improve their capability to interact with other agents, leading the way to complex collaborative scenarios with multiple…
Assistive robot arms try to help their users perform everyday tasks. One way robots can provide this assistance is shared autonomy. Within shared autonomy, both the human and robot maintain control over the robot's motion: as the robot…
Multi-robot manipulation tasks involve various control entities that can be separated into dynamically independent parts. A typical example of such real-world tasks is dual-arm manipulation. Learning to naively solve such tasks with…
An effective human-robot collaborative process results in the reduction of the operator's workload, promoting a more efficient, productive, safer and less error-prone working environment. However, the implementation of collaborative robots…
In shared autonomy, user input and robot autonomy are combined to control a robot to achieve a goal. Often, the robot does not know a priori which goal the user wants to achieve, and must both predict the user's intended goal, and assist in…
Multi-robot cooperative control has gained extensive research interest due to its wide applications in civil, security, and military domains. This paper proposes a cooperative control algorithm for multi-robot systems with general linear…
Shared autonomy provides a framework where a human and an automated system, such as a robot, jointly control the system's behavior, enabling an effective solution for various applications, including human-robot interaction. However, a…
Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…
This paper develops a robotic manipulation planner for human-robot collaborative assembly. Unlike previous methods which study an independent and fully AI-equipped autonomous system, this paper explores the subtask distribution between a…