Related papers: How Does Perception Affect Safety: New Metrics and…
This work proposes a novel risk-perception-aware (RPA) control design using non-rational perception of risks associated with uncertain dynamic spatial costs. We use Cumulative Prospect Theory (CPT) to model the risk perception of a decision…
Perception systems, especially cameras, are the eyes of automated driving systems. Ensuring that they function reliably and robustly is therefore an important building block in the automation of vehicles. There are various approaches to…
Active perception in uncertain environments requires robots to navigate safely while acquiring informative observations to reduce map uncertainty. These objectives inherently conflict, as informative viewpoints often lie near uncertain…
Autonomous robots deal with unexpected scenarios in real environments. Given input images, various visual perception tasks can be performed, e.g., semantic segmentation, depth estimation and normal estimation. These different tasks provide…
Collaborative multi-robot perception provides multiple views of an environment, offering varying perspectives to collaboratively understand the environment even when individual robots have poor points of view or when occlusions are caused…
In this paper, we introduce an innovative method to improve the convergence speed and accuracy of object detection neural networks. Our approach, CONVERGE-FAST-AUXNET, is based on employing multiple, dependent loss metrics and weighting…
Though construction robots have drawn attention in research and practice for decades, human-robot collaboration (HRC) remains important to conduct complex construction tasks. Considering its complexity and uniqueness, it is still unclear…
Collaborative autonomous driving with multiple vehicles usually requires the data fusion from multiple modalities. To ensure effective fusion, the data from each individual modality shall maintain a reasonably high quality. However, in…
The combination of collaborative robots and end-to-end AI, promises flexible automation of human tasks in factories and warehouses. However, such promise seems a few breakthroughs away. In the meantime, humans and cobots will collaborate…
Traffic accident prediction in driving videos aims to provide an early warning of the accident occurrence, and supports the decision making of safe driving systems. Previous works usually concentrate on the spatial-temporal correlation of…
Performance monitoring of object detection is crucial for safety-critical applications such as autonomous vehicles that operate under varying and complex environmental conditions. Currently, object detectors are evaluated using summary…
Physical human-robot collaboration requires strict safety guarantees since robots and humans work in a shared workspace. This letter presents a novel control framework to handle safety-critical position-based constraints for human-robot…
Recent approaches in robotics follow the insight that perception is facilitated by interaction with the environment. These approaches are subsumed under the term of Interactive Perception (IP). It provides the following benefits: (i)…
As robotic technology advances, the barriers to the coexistence of humans and robots are slowly coming down. Application domains like elderly care, collaborative manufacturing, collaborative manipulation, etc., are considered the need of…
Autonomous collision avoidance requires accurate environmental perception; however, flight systems often possess limited sensing capabilities with field-of-view (FOV) restrictions. To navigate this challenge, we present a safety-aware…
Our transportation world is rapidly transforming induced by an ever increasing level of autonomy. However, to obtain license of fully automated vehicles for widespread public use, it is necessary to assure safety of the entire system, which…
This paper explores the estimation of user attention in the setting of a cooperative handheld robot: a robot designed to behave as a handheld tool but that has levels of task knowledge. We use a tool-mounted gaze tracking system, which,…
We consider the coordinated escort problem, where a decentralised team of supporting robots implicitly assist the mission of higher-value principal robots. The defining challenge is how to evaluate the effect of supporting robots' actions…
We introduce an information measure, termed clarity, motivated by information entropy, and show that it has intuitive properties relevant to dynamic coverage control and informative path planning. Clarity defines the quality of the…
We model Human-Robot-Interaction (HRI) scenarios as linear dynamical systems and use Model Predictive Control (MPC) with mixed integer constraints to generate human-aware control policies. We motivate the approach by presenting two…