Related papers: RICO-MR: An Open-Source Architecture for Robot Int…
This paper presents an interaction model adapted to mixed reality environments known as IRVO (Interacting with Real and Virtual Objects). IRVO aims at modeling the interaction between one or more users and the Mixed Reality system by…
A flexible, scalable and affordable virtual reality software system architecture is proposed. This solution can be easily implemented on different hardware configurations: on a single computer or on a computer cluster. The architecture is…
This paper introduces a cognitive architecture for a humanoid robot to engage in a proactive, mixed-initiative exploration and manipulation of its environment, where the initiative can originate from both the human and the robot. The…
As humans, robots, and software agents increasingly share safety-critical environments, coordination must move from static task allocation to managing uncertain commitments. Existing frameworks fall short: they either assume rigid, static…
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…
As autonomous agents, from self-driving cars to virtual assistants, become increasingly present in everyday life, safe and effective collaboration depends on human understanding of agents' intentions. Current intent communication approaches…
The field of Augmented Reality (AR) based Human Robot Interaction (HRI) has progressed significantly since its inception more than two decades ago. With more advanced devices, particularly head-mounted displays (HMD), freely available…
As Artificial Intelligence systems evolve from monolithic models to ecosystems of specialized agents, the need for standardized communication protocols becomes increasingly critical. This paper introduces MOD-X (Modular Open Decentralized…
Robots are increasingly used in shared environments with humans, making effective communication a necessity for successful human-robot interaction. In our work, we study a crucial component: active communication of robot intent. Here, we…
With the advances in sensors and computer networks an increased number of Mixed Reality (MR) applications require large amounts of information from the real world. Such information is collected through sensors (e.g. position and orientation…
In mobile robot shared control, effectively understanding human motion intention is critical for seamless human-robot collaboration. This paper presents a novel shared control framework featuring planning-level intention prediction. A path…
We present an architecture for integrating real-time, multimodal input into a computational agent's contextual model. Using a human-avatar interaction in a virtual world, we treat aligned gesture and speech as an ensemble where content may…
Effective human-robot collaboration (HRC) requires extensive communication among the human and robot teammates, because their actions can potentially produce conflicts, synergies, or both. We develop a novel augmented reality (AR) interface…
When developing general purpose robots, the overarching software architecture can greatly affect the ease of accomplishing various tasks. Initial efforts to create unified robot systems in the 1990s led to hybrid architectures, emphasizing…
Human-Robot-Collaboration can enhance workflows by leveraging the mutual strengths of human operators and robots. Planning and understanding robot movements remain major challenges in this domain. This problem is prevalent in dynamic…
EXtended Reality (XR) is a rapidly developing paradigm for computer entertainment, and is also increasingly used for simulation, training, data analysis, and other non-entertainment purposes, often employing head-worn XR devices like the…
Nowadays, robots are found in a growing number of areas where they collaborate closely with humans. Enabled by lightweight materials and safety sensors, these cobots are gaining increasing popularity in domestic care, supporting people with…
As human-robot collaboration is becoming more widespread, there is a need for a more natural way of communicating with the robot. This includes combining data from several modalities together with the context of the situation and background…
Mixed Reality (MR) interfaces have been extensively explored for controlling mobile robots, but there is limited research on their application to managing teams of robots. This paper presents HORUS: Holistic Operational Reality for Unified…
We are developing a system for human-robot communication that enables people to communicate with robots in a natural way and is focused on solving problems in a shared space. Our strategy for developing this system is fundamentally…