Related papers: Socially reactive navigation models for mobile rob…
In this paper, we present a robotic navigation algorithm with natural language interfaces, which enables a robot to safely walk through a changing environment with moving persons by following human instructions such as "go to the restaurant…
To achieve seamless human-robot interactions, robots need to intimately reason about complex interaction dynamics and future human behaviors within their motion planning process. However, there is a disconnect between state-of-the-art…
In this paper, we present an approach for robot learning of social affordance from human activity videos. We consider the problem in the context of human-robot interaction: Our approach learns structural representations of human-human (and…
A reactive obstacle avoidance method for mobile manipulators is presented. The objectives of the developed algorithm are twofold. The first one is to find a trajectory in the configuration space of a mobile manipulator so as to follow a…
This paper addresses the challenge of human-guided navigation for mobile collaborative robots under simultaneous proximity regulation and safety constraints. We introduce Adaptive Reinforcement and Model Predictive Control Switching (ARMS),…
The long-standing, dominant approach to robotic obstacle negotiation relies on mapping environmental geometry to avoid obstacles. However, this approach does not allow for traversal of cluttered obstacles, hindering applications such as…
For successful goal-directed human-robot interaction, the robot should adapt to the intentions and actions of the collaborating human. This can be supported by musculoskeletal or data-driven human models, where the former are limited to…
We focus on the problem of how we can enable a robot to collaborate seamlessly with a human partner, specifically in scenarios where preexisting data is sparse. Much prior work in human-robot collaboration uses observational models of…
The functional demands of robotic systems often require completing various tasks or behaviors under the effect of disturbances or uncertain environments. Of increasing interest is the autonomy for dynamic robots, such as multirotors, motor…
Proactive robot assistance enables a robot to anticipate and provide for a user's needs without being explicitly asked. We formulate proactive assistance as the problem of the robot anticipating temporal patterns of object movements…
We develop a dynamical systems approach to prioritizing and selecting multiple recurring tasks with the aim of conferring a degree of deliberative goal selection to a mobile robot confronted with competing objectives. We take navigation as…
The deployment of robot assistants in large indoor spaces has seen significant growth, with escorting tasks becoming a key application. However, most current escorting robots primarily rely on navigation-focused strategies, assuming that…
In robotics, ensuring that autonomous systems are comprehensible and accountable to users is essential for effective human-robot interaction. This paper introduces a novel approach that integrates user-centered design principles directly…
Human-robot interactions have been recognized to be a key element of future industrial collaborative robots (co-robots). Unlike traditional robots that work in structured and deterministic environments, co-robots need to operate in highly…
Robotic navigation in environments shared with other robots or humans remains challenging because the intentions of the surrounding agents are not directly observable and the environment conditions are continuously changing. Local…
Large-Scale Multi-Agent Systems (LS-MAS) consist of several autonomous components, interacting in a non-trivial way, so that the emerging behaviour of the ensemble depends on the individual dynamics of the components and their reciprocal…
In real-world industrial environments, modern robots often rely on human operators for crucial decision-making and mission synthesis from individual tasks. Effective and safe collaboration between humans and robots requires systems that can…
Robotic systems increasingly operate in dynamic, unpredictable environments, where tightly coupled sensors and software modules increase the probability of a single fault cascading across components and admitting multiple plausible…
Collision-free mobile robot navigation is an important problem for many robotics applications, especially in cluttered environments. In such environments, obstacles can be static or dynamic. Dynamic obstacles can additionally be…
Effective human-robot teaming is crucial for the practical deployment of robots in human workspaces. However, optimizing joint human-robot plans remains a challenge due to the difficulty of modeling individualized human capabilities and…