Related papers: Socially-Aware Opinion-Based Navigation with Oval …

Motion planning in off-road environments requires reasoning about both the geometry and semantics of the scene (e.g., a robot may be able to drive through soft bushes but not a fallen log). In many recent works, the world is classified into…

Human navigation has been a topic of interest in spatial cognition from the past few decades. It has been experimentally observed that humans accomplish the task of way-finding a destination in an unknown environment by recognizing…

Social robot navigation increasingly relies on large language models for reasoning, path planning, and enabling movement in dynamic human spaces. However, relying solely on LLMs for planning often leads to unpredictable and unsafe…

Developing robotic technologies for use in human society requires ensuring the safety of robots' navigation behaviors while adhering to pedestrians' expectations and social norms. However, maintaining real-time communication between robots…

While powered wheelchairs reduce physical fatigue as opposed to manual wheelchairs for individuals with mobility impairment, they demand high cognitive workload due to information processing, decision making and motor coordination. Current…

Since users move around based on social relationships and interests, the resulting movement patterns can represent how nodes are socially connected (i.e., nodes with strong social ties, nodes that meet occasionally by sharing the same…

The issue of opinion sharing and formation has received considerable attention in the academic literature, and a few models have been proposed to study this problem. However, existing models are limited to the interactions among nearest…

Robots sometimes have to work together with a mixture of partially-aligned or conflicting goals. Flocking - coordinated motion through cohesion, alignment, and separation - traditionally assumes uniform desired inter-agent distances. Many…

Humans are going to delegate the rights of driving to the autonomous vehicles in near future. However, to fulfill this complicated task, there is a need for a mechanism, which enforces the autonomous vehicles to obey the road and social…

We propose a probabilistic shared-control solution for navigation, called Robot Trajectron V2 (RT-V2), that enables accurate intent prediction and safe, effective assistance in human-robot interaction. RT-V2 jointly models a user's…

Human awareness in robot motion planning is crucial for seamless interaction with humans. Many existing techniques slow down, stop, or change the robot's trajectory locally to avoid collisions with humans. Although using the information on…

We study a human-robot collaborative transportation task in presence of obstacles. The task for each agent is to carry a rigid object to a common target position, while safely avoiding obstacles and satisfying the compliance and actuation…

In this paper, we propose a novel navigation system for mobile robots in pedestrian-rich sidewalk environments. Sidewalks are unique in that the pedestrian-shared space has characteristics of both roads and indoor spaces. Like vehicles on…

Moving groups are routinely faced with a choice of different routes as part of their daily lives, such as choosing between exits from a building. Differences in moving speeds and environmental constraints often lead to individuals being…

An important tradition in philosophy holds that in order to successfully perform a joint action, the participants must be capable of establishing commitments on joint goals and shared plans. This suggests that social robotics should endow…

As robots increasingly enter human-centered environments, they must not only be able to navigate safely around humans, but also adhere to complex social norms. Humans often rely on non-verbal communication through gestures and facial…

{Recognizing human interactions is essential for social robots as it enables them to navigate safely and naturally in shared environments. Conventional robotic systems however often focus on obstacle avoidance, neglecting social cues…

A robot operating in isolation needs to reason over the uncertainty in its model of the world and adapt its own actions to account for this uncertainty. Similarly, a robot interacting with people needs to reason over its uncertainty over…

We synthesize shared control protocols subject to probabilistic temporal logic specifications. More specifically, we develop a framework in which a human and an autonomy protocol can issue commands to carry out a certain task. We blend…

Collaborative human activities are grounded in social and moral norms, which humans consciously and subconsciously use to guide and constrain their decision-making and behavior, thereby strengthening their interactions and preventing…