Related papers: HI-GVF: Shared Control based on Human-Influenced G…
Autonomous driving systems remain brittle in rare, ambiguous, and out-of-distribution scenarios, where human driver succeed through contextual reasoning. Shared autonomy has emerged as a promising approach to mitigate such failures by…
With the continuous advancement of robot teleoperation technology, shared control is used to reduce the physical and mental load of the operator in teleoperation system. This paper proposes an alternating shared control framework for object…
Connected and automated vehicles (CAVs) can be beneficial for improving the operation of highway bottlenecks such as weaving sections. This paper proposes a bi-level control approach based on an upper-level deep reinforcement learning…
The recent revolution of intelligent systems made it possible for robots and autonomous systems to work alongside humans, collaborating with them and supporting them in many domains. It is undeniable that this interaction can have huge…
A major challenge for the realization of intelligent robots is to supply them with cognitive abilities in order to allow ordinary users to program them easily and intuitively. One way of such programming is teaching work tasks by…
Remotely operated vehicles (ROVs) have drawn much attention to underwater tasks, such as the inspection and maintenance of infrastructure. The workload of ROV operators tends to be high, even for the skilled ones. Therefore, assistance…
Rapid advancements in artificial intelligence (AI) have enabled robots to performcomplex tasks autonomously with increasing precision. However, multi-robot systems (MRSs) face challenges in generalization, heterogeneity, and safety,…
The topic of physical human-robot interaction received a lot of attention from the robotics community because of many promising application domains. However, studying physical interaction between a robot and an external agent, like a human…
Shared autonomy provides an effective framework for human-robot collaboration that takes advantage of the complementary strengths of humans and robots to achieve common goals. Many existing approaches to shared autonomy make restrictive…
This note proposes a general control approach, called vector-field guided constraint-following control, to solve the dynamics control problem of geometric path-following for a class of uncertain mechanical systems. More specifically, it…
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…
Human safety has always been the main priority when working near an industrial robot. With the rise of Human-Robot Collaborative environments, physical barriers to avoiding collisions have been disappearing, increasing the risk of accidents…
Transporting large and heavy objects can benefit from Human-Robot Collaboration (HRC), increasing the contribution of robots to our daily tasks and reducing the risk of injuries to the human operator. This approach usually posits the human…
Humans are capable of learning a new behavior by observing others perform the skill. Robots can also implement this by imitation learning. Furthermore, if with external guidance, humans will master the new behavior more efficiently. So how…
In industrial environments, predicting human actions is essential for ensuring safe and effective collaboration between humans and robots. This paper introduces a perception framework that enables mobile robots to understand and share…
Vector field guided path following (VF-PF) algorithms are fundamental in robot navigation tasks, but may not deliver the desirable performance when robots encounter singular points where the vector field becomes zero. The existence of…
Human-robot teaming offers great potential because of the opportunities to combine strengths of heterogeneous agents. However, one of the critical challenges in realizing an effective human-robot team is efficient information exchange -…
Complex tasks require human collaboration since robots do not have enough dexterity. However, robots are still used as instruments and not as collaborative systems. We are introducing a framework to ensure safety in a human-robot…
As the number of Persons with Disabilities (PWD), particularly those with one or more physical impairments, increases, there is an increasing demand for assistive robotic technologies that can support independent mobility in the built…
In obstacle-dense scenarios, providing safe guidance for mobile robots is critical to improve the safe maneuvering capability. However, the guidance provided by standard guiding vector fields (GVFs) may limit the motion capability due to…