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In order to enable physical human-robot interaction where humans and (mobile) manipulators share their workspace and work together, robots have to be equipped with important capabilities to guarantee human safety. The robots have to…
The socially-aware navigation system has evolved to adeptly avoid various obstacles while performing multiple tasks, such as point-to-point navigation, human-following, and -guiding. However, a prominent gap persists: in Human-Robot…
Virtual reality has proved to be useful in applications in several fields ranging from gaming, medicine, and training to development of interfaces that enable human-robot collaboration. It empowers designers to explore applications outside…
Mixed Reality (MR) is constantly evolving to inspire new patterns of robot manipulation for more advanced Human- Robot Interaction under the 4th Industrial Revolution Paradigm. Consider that Mixed Reality aims to connect physical and…
This paper presents a planning algorithm designed to improve cooperative robot behavior concerning human comfort during forceful human-robot physical interaction. Particularly, we are interested in planning for object grasping and…
In disaster-stricken environments, it's vital to assess the damage quickly, analyse the stability of the environment, and allocate resources to the most vulnerable areas where victims might be present. These missions are difficult and…
In brain-machine interface (BMI) applications, a key challenge is the low information content and high noise level in neural signals, severely affecting stable robotic control. To address this challenge, we proposes a cooperative shared…
Biological agents, such as humans and animals, are capable of making decisions out of a very large number of choices in a limited time. They can do so because they use their prior knowledge to find a solution that is not necessarily optimal…
In this context, a major focus of this thesis is on unintentional collisions, where a straight goal is to eliminate injury from users and passerby's via realtime sensing and control systems. A less obvious focus is to combine collision…
Navigation is a fundamental capacity for mobile robots, enabling them to operate autonomously in complex and dynamic environments. Conventional approaches use probabilistic models to localize robots and build maps simultaneously using…
This paper addresses a synchronization problem that arises when a team of aerial robots (ARs) need to communicate while performing assigned tasks in a cooperative scenario. Each robot has a limited communication range and flies within a…
In this paper, we investigate how to design an effective interface for remote multi-human multi-robot interaction. While significant research exists on interfaces for individual human operators, little research exists for the multi-human…
Building autonomous mobile robots (AMRs) with optimized efficiency and adaptive capabilities-able to respond to changing task demands and dynamic environments-is a strongly desired goal for advancing construction robotics. Such robots can…
This work proposes a novel approach to social robot navigation by learning to generate robot controls from a social motion latent space. By leveraging this social motion latent space, the proposed method achieves significant improvements in…
Multi-agent human-robot teaming allows for the potential to gather information about various environments more efficiently by exploiting and combining the strengths of humans and robots. In industries like defense, search and rescue,…
Virtual reality (VR) interfaces for robots provide a three-dimensional (3D) view of the robot in its environment, which allows people to better plan complex robot movements in tight or cluttered spaces. In our prior work, we created a VR…
Recent advancements in robotics have increased the possibilities for integrating robotic systems into human-involved workplaces, highlighting the need to examine and optimize human-robot coordination in collaborative settings. This study…
Cyber human interaction is a broad term encompassing the range of interactions that humans can have with technology. While human interaction with fixed and mobile computers is well understood, the world is on the cusp of ubiquitous and…
With the aim of enabling robots to cooperate with humans, carry out human-like tasks, or navigate among humans, we need to ensure that they are equipped with the ability to comprehend human behaviors and use the extracted knowledge for…
With the continuous breakthroughs in core technology, the dawn of large-scale integration of robotic systems into daily human life is on the horizon. Multi-robot systems (MRS) built on this foundation are undergoing drastic evolution. The…