Related papers: Interoceptive Robots for Convergent Shared Control…
Human-robot collaborative assembly systems enhance the efficiency and productivity of the workplace but may increase the workers' cognitive demand. This paper proposes an online and quantitative framework to assess the cognitive workload…
Cooperative perception (CP) is a key technology to facilitate consistent and accurate situational awareness for connected and autonomous vehicles (CAVs). To tackle the network resource inefficiency issue in traditional broadcast-based CP,…
We design and develop a new shared Augmented Reality (AR) workspace for Human-Robot Interaction (HRI), which establishes a bi-directional communication between human agents and robots. In a prototype system, the shared AR workspace enables…
Spatial computing -- the ability of devices to be aware of their surroundings and to represent this digitally -- offers novel capabilities in human-robot interaction. In particular, the combination of spatial computing and egocentric…
While autonomous multi-robots can achieve safe and coordinated navigation, they often struggle to adapt to unforeseen conditions and to capture operator-driven objectives in unstructured environments. We present a Virtual Reality (VR)-based…
Collaborative perception in multi-robot fleets is a way to incorporate the power of unity in robotic fleets. Collaborative perception refers to the collective ability of multiple entities or agents to share and integrate their sensory…
This paper demonstrates the groundwork for the structure and nature of Human-Robot Cognitive Coupling.The human mind is best at associating objects, while digital devices can only compare. Successful communication between robot and human…
Accessibility is one of the most important features in the design of robots and their interfaces. This thesis proposes methods that improve the accessibility of robots for three different target audiences: consumers, researchers, and…
Mapping is a time-consuming process for deploying robotic systems to new environments. The handling of maps is also risk-adverse when not managed effectively. We propose here, a standardised approach to handling such maps in a manner which…
The ability to recognize human partners is an important social skill to build personalized and long-term human-robot interactions, especially in scenarios like education, care-giving, and rehabilitation. Faces and voices constitute two…
Most existing methods for motion planning of mobile robots involve generating collision-free trajectories. However, these methods focusing solely on contact avoidance may limit the robots' locomotion and can not be applied to tasks where…
This article presents an open-source architecture for conveying robots' intentions to human teammates using Mixed Reality and Head-Mounted Displays. The architecture has been developed focusing on its modularity and re-usability aspects.…
Robot-based assembly in construction has emerged as a promising solution to address numerous challenges such as increasing costs, labor shortages, and the demand for safe and efficient construction processes. One of the main obstacles in…
Humans have developed the capability to teach relevant aspects of new or adapted tasks to a social peer with very few task demonstrations by making use of scaffolding strategies that leverage prior knowledge and importantly prior joint…
The increasing number of robots in home environments leads to an emerging coexistence between humans and robots. Robots undertake common tasks and support the residents in their everyday life. People appreciate the presence of robots in…
In the context of Human-Robot Collaboration (HRC), it is crucial that the two actors are able to communicate with each other in a natural and efficient manner. The absence of a communication interface is often a cause of undesired…
Adapting to unforeseen novelties in open-world environments remains a major challenge for autonomous systems. While hybrid planning and reinforcement learning (RL) approaches show promise, they often suffer from sample inefficiency, slow…
Similar to humans, robots benefit from interacting with their environment through a number of different sensor modalities, such as vision, touch, sound. However, learning from different sensor modalities is difficult, because the learning…
We introduce a robotic assembly system that streamlines the design-to-make workflow for going from a CAD model of a product assembly to a fully programmed and adaptive assembly process. Our system captures (in the CAD tool) the intent of…
In shared autonomy, user input and robot autonomy are combined to control a robot to achieve a goal. Often, the robot does not know a priori which goal the user wants to achieve, and must both predict the user's intended goal, and assist in…