Related papers: ROS-Causal: A ROS-based Causal Analysis Framework …
Sociability is essential for modern robots to increase their acceptability in human environments. Traditional techniques use manually engineered utility functions inspired by observing pedestrian behaviors to achieve social navigation.…
Foundation models hold significant potential for enabling robots to perform long-horizon general manipulation tasks. However, the simplicity of tasks and the uniformity of environments in existing benchmarks restrict their effective…
We consider the human-aware task planning problem where a human-robot team is given a shared task with a known objective to achieve. Recent approaches tackle it by modeling it as a team of independent, rational agents, where the robot plans…
Socially aware robot navigation is a planning paradigm where the robot navigates in human environments and tries to adhere to social constraints while interacting with the humans in the scene. These navigation strategies were further…
In robotics, data acquisition often plays a key part in unknown environment exploration. For example, storing information about the topography of the explored terrain or the natural dangers in the environment can inform the decision-making…
Over the last years, social robots have been deployed in public environments making evident the need of human-aware navigation capabilities. In this regard, the robotics community have made efforts to include proxemics or social conventions…
In this work we present an experimental setup to show the suitability of ROS 2.0 for real-time robotic applications. We disclose an evaluation of ROS 2.0 communications in a robotic inter-component (hardware) communication case on top of…
In this paper, we present a framework for real-time autonomous robot navigation based on cloud and on-demand databases to address two major issues of human-like robot interaction and task planning in global dynamic environment, which is not…
Traditional robotic systems require complex implementations that are not always accessible or easy to use for Human-Robot Interaction (HRI) application developers. With the aim of simplifying the implementation of HRI applications, this…
An important factor in developing control models for human-robot collaboration is how acceptable they are to their human partners. One such method for creating acceptable control models is to attempt to mimic human-like behaviour in robots…
We present ROSfs, a novel user-level file system for the Robot Operating System (ROS). ROSfs interprets a robot file as a group of sub-files, with each having a distinct label. ROSfs applies a time index structure to enhance the flexible…
Robust localization in a given map is a crucial component of most autonomous robots. In this paper, we address the problem of localizing in an indoor environment that changes and where prominent structures have no correspondence in the map…
This paper introduces IRIS, an Immersive Robot Interaction System leveraging Extended Reality (XR). Existing XR-based systems enable efficient data collection but are often challenging to reproduce and reuse due to their specificity to…
In order to demonstrate the limitations of assistive robotic capabilities in noisy real-world environments, we propose a Decision-Making Scenario analysis approach that examines the challenges due to user and environmental uncertainty, and…
Monitoring large, unknown, and complex environments with autonomous robots poses significant navigation challenges, where deploying teams of heterogeneous robots with complementary capabilities can substantially improve both mission…
Robot social navigation needs to adapt to different human factors and environmental contexts. However, since these factors and contexts are difficult to predict and cannot be exhaustively enumerated, traditional learning-based methods have…
In recent years, the mobile robot has been the concern of numerous researcher since they are widely applied in various fields of daily life. This paper applies a virtual robot operating system (ROS) platform to develop a localization system…
A wide range of human-robot collaborative applications in diverse domains such as manufacturing, health care, the entertainment industry, and social interactions, require an autonomous robot to follow its human companion. Different working…
Multi-agent systems play an important role in modern robotics. Due to the nature of these systems, coordination among agents via communication is frequently necessary. Indeed, Perception-Action-Communication (PAC) loops, or…
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…