Related papers: Legible and Proactive Robot Planning for Prosocial…
Intelligent robots and machines are becoming pervasive in human populated environments. A desirable capability of these agents is to respond to goal-oriented commands by autonomously constructing task plans. However, such autonomy can add…
Understanding the intentions of human teammates is critical for safe and effective human-robot interaction. The canonical approach for human-aware robot motion planning is to first predict the human's goal or path, and then construct a…
Mobile robots are traditionally developed to be reactive and avoid collisions with surrounding humans, often moving in unnatural ways without following social protocols, forcing people to behave very differently from human-human interaction…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
This paper proposes a robot action planning scheme that provides an efficient and probabilistically safe plan for a robot interacting with an unconcerned human -- someone who is either unaware of the robot's presence or unwilling to engage…
With the increasing presence of social robots in various environments and applications, there is an increasing need for these robots to exhibit socially-compliant behaviors. Legible motion, characterized by the ability of a robot to clearly…
We focus on the problem of how we can enable a robot to collaborate seamlessly with a human partner, specifically in scenarios where preexisting data is sparse. Much prior work in human-robot collaboration uses observational models of…
We claim that navigation in human environments can be viewed as cooperative activity especially in constrained situations. Humans concurrently aid and comply with each other while moving in a shared space. Cooperation helps pedestrians to…
Recent works explore collaboration between humans and teams of robots. These approaches make sense if the human is already working with the robot team; but how should robots encourage nearby humans to join their teams in the first place?…
Human-robot teaming is one of the most important applications of artificial intelligence in the fast-growing field of robotics. For effective teaming, a robot must not only maintain a behavioral model of its human teammates to project the…
Robots sharing their space with humans need to be proactive in order to be helpful. Proactive robots are able to act on their own initiative in an anticipatory way to benefit humans. In this work, we investigate two ways to make robots…
In this paper, we present a planning framework that uses a combination of implicit (robot motion) and explicit (visual/audio/haptic feedback) communication during mobile robot navigation. First, we developed a model that approximates both…
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…
As robotic systems become more and more capable of assisting humans in their everyday lives, we must consider the opportunities for these artificial agents to make their human collaborators feel unsafe or to treat them unfairly. Robots can…
Collaborative robots must quickly adapt to their partner's intent and preferences to proactively identify helpful actions. This is especially true in situated settings where human partners can continually teach robots new high-level…
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…
This paper addresses motion replanning in human-robot collaborative scenarios, emphasizing reactivity and safety-compliant efficiency. While existing human-aware motion planners are effective in structured environments, they often struggle…
We propose, analyze, and experimentally verify a new proactive approach for robot social navigation driven by the robot's "opinion" for which way and by how much to pass human movers crossing its path. The robot forms an opinion over time…
In human-robot collaboration, the objectives of the human are often unknown to the robot. Moreover, even assuming a known objective, the human behavior is also uncertain. In order to plan a robust robot behavior, a key preliminary question…
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…