Related papers: Human Robot Pacing Mismatch
In order to be effective teammates, robots need to be able to understand high-level human behavior to recognize, anticipate, and adapt to human motion. We have designed a new approach to enable robots to perceive human group motion in…
Humans interacting with robots often form predictions of what the robot will do next. For instance, based on the recent behavior of an autonomous car, a nearby human driver might predict that the car is going to remain in the same lane. It…
For humans and robots to form an effective human-robot team (HRT) there must be sufficient trust between team members throughout a mission. We analyze data from an HRT experiment focused on trust dynamics in teams of one human and two…
Autonomous systems and humans are increasingly sharing the same space. Robots work side by side or even hand in hand with humans to balance each other's limitations. Such cooperative interactions are ever more sophisticated. Thus, the…
Robots that navigate through human crowds need to be able to plan safe, efficient, and human predictable trajectories. This is a particularly challenging problem as it requires the robot to predict future human trajectories within a crowd…
We study the sparsity and optimality properties of crowd navigation and find that existing techniques do not satisfy both criteria simultaneously: either they achieve optimality with a prohibitive number of samples or tractability…
We focus on robot navigation in crowded environments. To navigate safely and efficiently within crowds, robots need models for crowd motion prediction. Building such models is hard due to the high dimensionality of multiagent domains and…
Robots and Humans have to share the same environment more and more often. In the aim of steering robots in a safe and convenient manner among humans it is required to understand how humans interact with them. This work focuses on collision…
This work studies a robot-assisted crowd evacuation problem where we control a small group of robots to guide a large human crowd to safe locations. The challenge lies in how to model human-robot interactions and design robot controls to…
Shared autonomy integrates user input with robot autonomy in order to control a robot and help the user to complete a task. Our work aims to improve the performance of such a human-robot team: the robot tries to guide the human towards an…
In human-robot teams, humans often start with an inaccurate model of the robot capabilities. As they interact with the robot, they infer the robot's capabilities and partially adapt to the robot, i.e., they might change their actions based…
To enable safe and efficient human-robot collaboration in shared workspaces it is important for the robot to predict how a human will move when performing a task. While predicting human motion for tasks not known a priori is very…
Bearing measurements,as the most common modality in nature, have recently gained traction in multi-robot systems to enhance mutual localization and swarm collaboration. Despite their advantages, challenges such as sensory noise, obstacle…
Mobile robots are increasingly being deployed in public spaces such as shopping malls, airports, and urban sidewalks. Most of these robots are designed with human-aware motion planning capabilities but are not designed to communicate with…
This paper addresses human-robot collaboration (HRC) challenges of integrating predictions of human activity to provide a proactive-n-reactive response capability for the robot. Prior works that consider current or predicted human poses as…
To achieve seamless human-robot interactions, robots need to intimately reason about complex interaction dynamics and future human behaviors within their motion planning process. However, there is a disconnect between state-of-the-art…
For planning an assembly of a product from a given set of parts, robots necessitate certain cognitive skills: high-level planning is needed to decide the order of actuation actions, while geometric reasoning is needed to check the…
The problem of coordination without a priori information about the environment is important in robotics. Applications vary from formation control to search and rescue. This paper considers the problem of search by a group of solitary…
Interacting physically with robots and sharing environment with them leads to situations where humans and robots have to cross each other in narrow corridors. In these cases, the robot has to make space for the human to pass. From…
Current state-of-the-art crowd navigation approaches are mainly deep reinforcement learning (DRL)-based. However, DRL-based methods suffer from the issues of generalization and scalability. To overcome these challenges, we propose a method…