Related papers: Cooperative Trajectory Planning: Principles for Hu…

The field of Human-Robot Collaboration (HRC) has seen a considerable amount of progress in recent years. Thanks in part to advances in control and perception algorithms, robots have started to work in increasingly unstructured environments,…

In human-robot cooperation, the robot cooperates with humans to accomplish the task together. Existing approaches assume the human has a specific goal during the cooperation, and the robot infers and acts toward it. However, in real-world…

Ensuring human safety in collaborative robotics can compromise efficiency because traditional safety measures increase robot cycle time when human interaction is frequent. This paper proposes a safety-aware approach to mitigate efficiency…

Motion prediction of surrounding vehicles is one of the most important tasks handled by a self-driving vehicle, and represents a critical step in the autonomous system necessary to ensure safety for all the involved traffic actors. Recently…

Increasing and massive volumes of trajectory data are being accumulated that may serve a variety of applications, such as mining popular routes or identifying ridesharing candidates. As storing and querying massive trajectory data is…

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…

The coordination problem of multi-vehicle systems is of great interests in the area of autonomous driving and multi-vehicle control. This work mainly focuses on multi-task coordination problem of a group of vehicles with a bicycle model and…

Overtaking is one of the most challenging tasks in driving, and the current solutions to autonomous overtaking are limited to simple and static scenarios. In this paper, we present a method for behaviour and trajectory planning for safe…

Motion planning for multi-jointed robots is challenging. Due to the inherent complexity of the problem, most existing works decompose motion planning as easier subproblems. However, because of the inconsistent performance metrics, only…

Cooperative maneuver planning promises to significantly improve traffic efficiency at unsignalized intersections by leveraging connected automated vehicles. Previous works on this topic have been mostly developed for completely automated…

We present a novel approach to shared control of human-machine systems. Our method assumes no a priori knowledge of the system dynamics. Instead, we learn both the dynamics and information about the user's interaction from observation…

Motion planning for autonomous vehicles sharing the road with human drivers remains challenging. The difficulty arises from three challenging aspects: human drivers are 1) multi-modal, 2) interacting with the autonomous vehicle, and 3)…

Trust between team members is an essential requirement for any successful cooperation. Thus, engendering and maintaining the fellow team members' trust becomes a central responsibility for any member trying to not only successfully…

Collaboration requires coordination, and we coordinate by anticipating our teammates' future actions and adapting to their plan. In some cases, our teammates' actions early on can give us a clear idea of what the remainder of their plan is,…

In this paper, we present a novel nonparametric motion flow model that effectively describes a motion trajectory of a human and its application to human robot cooperation. To this end, motion flow similarity measure which considers both…

This research investigates strategies for multi-robot coordination in multi-human environments. It proposes a multi-objective learning-based coordination approach to addressing the problem of path planning, navigation, task scheduling, task…

Robot-assisted navigation is a perfect example of a class of applications requiring flexible control approaches. When the human is reliable, the robot should concede space to their initiative. When the human makes inappropriate choices the…

The evolution of information and communication technologies has yielded the means of sharing measurements and other information in an efficient and flexible way, which has enabled the size and complexity of control applications to increase.…

Floating-base multi-link robots can change their shape during flight, making them well-suited for applications in confined environments such as autonomous inspection and search and rescue. However, trajectory planning for such systems…

For robots to be a part of our daily life, they need to be able to navigate among crowds not only safely but also in a socially compliant fashion. This is a challenging problem because humans tend to navigate by implicitly cooperating with…