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For decades, robotics researchers have pursued various tasks for multi-robot systems, from cooperative manipulation to search and rescue. These tasks are multi-robot extensions of classical robotic tasks and often optimized on dimensions…
Ensuring safety in human-robot interaction (HRI) is essential to foster user trust and enable the broader adoption of robotic systems. Traditional safety models primarily rely on sensor-based measures, such as relative distance and…
Human-robot collaborative assembly systems enhance the efficiency and productivity of the workplace but may increase the workers' cognitive demand. This paper proposes an online and quantitative framework to assess the cognitive workload…
Effective communication between humans and collaborative robots is essential for seamless Human-Robot Collaboration (HRC). In noisy industrial settings, nonverbal communication, such as gestures, plays a key role in conveying commands and…
The recent revolution of intelligent systems made it possible for robots and autonomous systems to work alongside humans, collaborating with them and supporting them in many domains. It is undeniable that this interaction can have huge…
Trust has been shown to be a key factor in effective human-robot collaboration. In the context of assistive robotics, the effect of trust factors on human experience is further pronounced. Personalization of assistive robots is an…
This paper explores the concept of engagement, the process by which individuals in an interaction start, maintain and end their perceived connection to one another. The paper reports on one aspect of engagement among human interactors--the…
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…
Nowadays, robots are expected to interact more physically, cognitively, and socially with people. They should adapt to unpredictable contexts alongside individuals with various behaviours. For this reason, personalisation is a valuable…
This study contributes to the evolving field of robot learning in interaction with humans, examining the impact of diverse input modalities on learning outcomes. It introduces the concept of "meta-modalities" which encapsulate additional…
The topic of joint actions has been deeply studied in the context of Human-Human interaction in order to understand how humans cooperate. Creating autonomous robots that collaborate with humans is a complex problem, where it is relevant to…
Humans often work closely together and relay a wealth of information through physical interaction. Robots, on the other hand, are not yet able to work similarly closely with humans and to effectively convey information when engaging in…
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…
It is well-known that a deep understanding of co-workers' behavior and preference is important for collaboration effectiveness. In this work, we present a method to accomplish smooth human-robot collaboration in close proximity by taking…
Recent advances in the areas of human-robot interaction (HRI) and robot autonomy are changing the world. Today robots are used in a variety of applications. People and robots work together in human autonomous teams (HATs) to accomplish…
To coordinate actions with an interaction partner requires a constant exchange of sensorimotor signals. Humans acquire these skills in infancy and early childhood mostly by imitation learning and active engagement with a skilled partner.…
In the rapidly evolving landscape of human-robot collaboration, effective communication between humans and robots is crucial for complex task execution. Traditional request-response systems often lack naturalness and may hinder efficiency.…
In this paper, we aim to understand how user motivation shapes human-robot interaction (HRI) in the wild. To explore this, we conducted a field study by deploying a fully autonomous conversational robot in a shopping mall over two days.…
We study a human-robot collaborative transportation task in presence of obstacles. The task for each agent is to carry a rigid object to a common target position, while safely avoiding obstacles and satisfying the compliance and actuation…
To interact seamlessly with robots, users must infer the causes of a robot's behavior and be confident about that inference. Hence, trust is a necessary condition for human-robot collaboration (HRC). Despite its crucial role, it is largely…