Related papers: We Choose to Go to Space: Agent-driven Human and M…
Collaborative space robots are an emerging technology with high impact as robots facilitate servicing functions in collaboration with astronauts with higher precision during lengthy tasks, under tight operational schedules, with less risk…
This paper presents a first contribution to the design of a small aerial robot for inhabited microgravity environments, such as orbiting space stations. In particular, we target a fleet of robots for collaborative tasks with humans, such as…
Research on multi-agent planning has been popular in recent years. While previous research has been motivated by the understanding that, through cooperation, multi-agent systems can achieve tasks that are unachievable by single-agent…
In this paper we consider the problem of coordinating robotic systems with different kinematics, sensing and vision capabilities to achieve certain mission goals. An approach that makes use of a heterogeneous team of agents has several…
Learning collaborative behaviors is essential for multi-agent systems. Traditionally, multi-agent reinforcement learning solves this implicitly through a joint reward and centralized observations, assuming collaborative behavior will…
With the advances in robotic technology, research in human-robot collaboration (HRC) has gained in importance. For robots to interact with humans autonomously they need active decision making that takes human partners into account. However,…
Effective human-robot collaboration (HRC) requires translating high-level intent into contact-stable whole-body motion while continuously adapting to a human partner. Many vision-language-action (VLA) systems learn end-to-end mappings from…
The field of Human-Robot Collaboration (HRC) has seen a considerable amount of progress in recent years. Thanks in part to advances in control and perception algorithms, robots have started to work in increasingly unstructured environments,…
Collaborative robots, or cobots, are increasingly integrated into various industrial and service settings to work efficiently and safely alongside humans. However, for effective human-robot collaboration, robots must reason based on human…
This paper develops a methodology for collaborative human-robot exploration that leverages implicit coordination. Most autonomous single- and multi-robot exploration systems require a remote operator to provide explicit guidance to the…
One common and desirable application of robots is exploring potentially hazardous and unstructured environments. Air-ground collaboration offers a synergistic approach to addressing such exploration challenges. In this paper, we demonstrate…
Systems integration is a difficult matter particularly when its components are varied. The problem becomes even more difficult when such components are heterogeneous such as humans, robots and software systems. Currently, the humans are…
The growing interest in human-robot collaboration (HRC), where humans and robots cooperate towards shared goals, has seen significant advancements over the past decade. While previous research has addressed various challenges, several key…
As robots are deployed in human spaces, it is important that they are able to coordinate their actions with the people around them. Part of such coordination involves ensuring that people have a good understanding of how a robot will act in…
Efficient robotic extraterrestrial exploration requires robots with diverse capabilities, ranging from scientific measurement tools to advanced locomotion. A robotic team enables the distribution of tasks over multiple specialized…
To achieve autonomy in complex real-world exploration missions, we consider deployment strategies for a team of robots with heterogeneous autonomy capabilities. In this work, we formulate a multi-robot exploration mission and compute an…
Heterogeneous robots equipped with multi-modal sensors (e.g., UAV, wheeled and legged terrestrial robots) provide rich and complementary functions that may help human operators to accomplish complex tasks in unknown environments. However,…
This paper presents the design of a small aerial robot for inhabited microgravity environments, such as orbiting space stations (e.g., ISS). In particular, we target a fleet of robots, called Space CoBots, for collaborative tasks with…
With the introduction of collaborative robots, humans and robots can now work together in close proximity and share the same workspace. However, this collaboration presents various challenges that need to be addressed to ensure seamless…
This paper develops a stochastic programming framework for multi-agent systems where task decomposition, assignment, and scheduling problems are simultaneously optimized. The framework can be applied to heterogeneous mobile robot teams with…