Related papers: Situational Adaptive Motion Prediction for Firefig…

Wildfires are destructive and inflict massive, irreversible harm to victims' lives and natural resources. Researchers have proposed commissioning unmanned aerial vehicles (UAVs) to provide firefighters with real-time tracking information;…

This paper presents a solution for the problem of optimal planning for a robot in a collaborative human-robot team, where the human supervisor is intermittently available to assist the robot in completing tasks more quickly. Specifically,…

There has been increasing awareness of the difficulties in reaching and extracting people from mass casualty scenarios, such as those arising from natural disasters. While platforms have been designed to consider reaching casualties and…

In this work, our goal is to extend the existing search and rescue paradigm by allowing teams of autonomous unmanned aerial vehicles (UAVs) to collaborate effectively with human searchers on the ground. We derive a framework that includes a…

This paper addresses motion replanning in human-robot collaborative scenarios, emphasizing reactivity and safety-compliant efficiency. While existing human-aware motion planners are effective in structured environments, they often struggle…

Situational awareness and Indoor location tracking for firefighters is one of the tasks with paramount importance in search and rescue operations. For Indoor Positioning systems (IPS), GPS is not the best possible solution. There are few…

Uncertainty of environments has long been a difficult characteristic to handle, when performing real-world robot tasks. This is because the uncertainty produces unexpected observations that cannot be covered by manual scripting. Learning…

Human awareness in robot motion planning is crucial for seamless interaction with humans. Many existing techniques slow down, stop, or change the robot's trajectory locally to avoid collisions with humans. Although using the information on…

Autonomous systems, including robots and drones, face significant challenges when navigating through dynamic environments, particularly within urban settings where obstacles, fluctuating traffic, and pedestrian activity are constantly…

This paper considers safe robot mission planning in uncertain dynamical environments. This problem arises in applications such as surveillance, emergency rescue, and autonomous driving. It is a challenging problem due to modeling and…

As technology advances, the need for safe, efficient, and collaborative human-robot-teams has become increasingly important. One of the most fundamental collaborative tasks in any setting is the object handover. Human-to-robot handovers can…

Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous,…

The purpose of this tutorial is to help individuals use the \underline{FireCommander} game environment for research applications. The FireCommander is an interactive, probabilistic joint perception-action reconnaissance environment in which…

Wildfire suppression is a complex task that poses high risks to humans. Using robotic teams for wildfire suppression enhances the safety and efficiency of detecting, monitoring, and extinguishing fires. We propose a control architecture…

Numerical optimization has become a popular approach to plan smooth motion trajectories for robots. However, when sharing space with humans, balancing properly safety, comfort and efficiency still remains challenging. This is notably the…

In this paper we present a method for automatically planning optimal paths for a group of robots that satisfy a common high level mission specification. Each robot's motion in the environment is modeled as a weighted transition system. The…

Generating accurate and efficient predictions for the motion of the humans present in the scene is key to the development of effective motion planning algorithms for robots moving in promiscuous areas, where wrong planning decisions could…

Smooth and seamless robot navigation while interacting with humans depends on predicting human movements. Forecasting such human dynamics often involves modeling human trajectories (global motion) or detailed body joint movements (local…

Indoor motion planning focuses on solving the problem of navigating an agent through a cluttered environment. To date, quite a lot of work has been done in this field, but these methods often fail to find the optimal balance between…

The problem of dispatching emergency responders to service traffic accidents, fire, distress calls and crimes plagues urban areas across the globe. While such problems have been extensively looked at, most approaches are offline. Such…