Related papers: Human-Machine Shared Control Approach for the Take…
Shared autonomy requires principled mechanisms for allocating and transferring control between a human and an autonomous agent. Existing approaches often rely on blending control inputs between human and autonomous agent or switching rules,…
For mixed-initiative control between cyber-physical systems (CPS) and its users, it is still an open question how machines can safely hand over control to humans. In this work, we propose a concept to provide technological support that uses…
While motion planning techniques for automated vehicles in a reactive and anticipatory manner are already widely presented, approaches to cooperative motion planning are still remaining. In this paper, we present an approach to enhance…
An Adaptive Cruise Control (ACC) system allows vehicles to maintain a desired headway distance to a preceding vehicle automatically. It is increasingly adopted by commercial vehicles. Recent research demonstrates that the effective use of…
Experimental measurements on commercial adaptive cruise control (ACC) vehicles \RoundTwo{are} becoming increasingly available from around the world, providing an unprecedented opportunity to study the traffic flow characteristics that arise…
Building effective, enjoyable, and safe autonomous vehicles is a lot harder than has historically been considered. The reason is that, simply put, an autonomous vehicle must interact with human beings. This interaction is not a robotics…
Commercial Adaptive Cruise Control (ACC) systems are increasingly available as standard options in modern vehicles. At the same time, still little information is openly available on how these systems actually operate and how different is…
Mutual adaptation can significantly enhance overall task performance in human-robot co-transportation by integrating both the robot's and human's understanding of the environment. While human modeling helps capture humans' subjective…
Shared autonomy provides a framework where a human and an automated system, such as a robot, jointly control the system's behavior, enabling an effective solution for various applications, including human-robot interaction. However, a…
We address the problem of merging traffic from two roadways consisting of both Connected Autonomous Vehicles (CAVs) and Human Driven Vehicles (HDVs). Guaranteeing safe merging in such mixed traffic settings is challenging due to the…
Partial driving automation creates a tension: drivers remain legally responsible for vehicle behaviour, yet their active control is significantly reduced. This reduction undermines the engagement and sense of agency needed to intervene…
To properly assess the impact of (cooperative) adaptive cruise control ACC (CACC), one has to model vehicle dynamics. First of all, one has to choose the car following model, as it determines the vehicle flow as vehicles accelerate from…
In this paper, we present a novel probabilistic safe control framework for human-robot interaction that combines control barrier functions (CBFs) with conformal risk control to provide formal safety guarantees while considering complex…
Controlling connected automated vehicles (CAVs) via vehicle-to-everything (V2X) connectivity holds significant promise for improving fuel economy and traffic efficiency. However, to deploy CAVs and reap their benefits, their controllers…
Action anticipation, intent prediction, and proactive behavior are all desirable characteristics for autonomous driving policies in interactive scenarios. Paramount, however, is ensuring safety on the road --- a key challenge in doing so is…
When connected and autonomous vehicles (CAVs) are widely used in the future, we can foresee many essential applications, such as platoon formation and autonomous police patrolling, which need two CAVs, originally separated in a mixed…
For successful goal-directed human-robot interaction, the robot should adapt to the intentions and actions of the collaborating human. This can be supported by musculoskeletal or data-driven human models, where the former are limited to…
The design of cooperative adaptive cruise control is critical in mixed traffic flow, where connected and automated vehicles (CAVs) and human-driven vehicles (HDVs) coexist. Compared with pure CAVs, the major challenge is how to handle the…
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…
Robot-to-human object handover is an important step in many human robot collaboration tasks. A successful handover requires the robot to maintain a stable grasp on the object while making sure the human receives the object in a natural and…