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Rather than having each newly deployed robot create its own map of its surroundings, the growing availability of SLAM-enabled devices provides the option of simply localizing in a map of another robot or device. In cases such as multi-robot…
The application of artificial intelligence to simulate air-to-air combat scenarios is attracting increasing attention. To date the high-dimensional state and action spaces, the high complexity of situation information (such as imperfect and…
In human-AI decision making, designing AI that complements human expertise has been a natural strategy to enhance human-AI collaboration, yet it often comes at the cost of decreased AI performance in areas of human strengths. This can…
In a Human-in-the-Loop paradigm, a robotic agent is able to act mostly autonomously in solving a task, but can request help from an external expert when needed. However, knowing when to request such assistance is critical: too few requests…
The aim of my Ph.D. thesis concerns Reasoning in Highly Reactive Environments. As reasoning in highly reactive environments, we identify the setting in which a knowledge-based agent, with given goals, is deployed in an environment subject…
Human-machine complementarity is important when neither the algorithm nor the human yield dominant performance across all instances in a given domain. Most research on algorithmic decision-making solely centers on the algorithm's…
Studies of human-robot interaction in dynamic and unstructured environments show that as more advanced robotic capabilities are deployed, the need for cooperative competencies to support collaboration with human problem-holders increases.…
In an emergency situation, the actors need an assistance allowing them to react swiftly and efficiently. In this prospect, we present in this paper a decision support system that aims to prepare actors in a crisis situation thanks to a…
AI recommender systems are sought for decision support by providing suggestions to operators responsible for making final decisions. However, these systems are typically considered black boxes, and are often presented without any context or…
Neural nets are powerful function approximators, but the behavior of a given neural net, once trained, cannot be easily modified. We wish, however, for people to be able to influence neural agents' actions despite the agents never training…
Humanoid robotics has strong potential to transform daily service and caregiving applications. Although recent advances in general motion tracking within physics engines (GMT) have enabled virtual characters and humanoid robots to reproduce…
As aircraft systems become increasingly autonomous, the human-machine role allocation changes and opportunities for new failure modes arise. This necessitates an approach to identify the safety requirements for the increasingly autonomous…
Control and planning of multi-agent systems is an active and increasingly studied topic of research, with many practical applications such as rescue missions, security, surveillance, and transportation. This thesis addresses the planning…
Given an increasing prevalence of intelligent systems capable of autonomous actions or augmenting human activities, it is important to consider scenarios in which the human, autonomous system, or both can exhibit failures as a result of one…
Most AI systems today are designed to manage tasks and execute predefined steps. This makes them effective for process coordination but limited in their ability to engage in joint problem-solving with humans or contribute new ideas. We…
When agents collaborate on a task, it is important that they have some shared mental model of the task routines -- the set of feasible plans towards achieving the goals. However, in reality, situations often arise that such a shared mental…
The interaction and collaboration between humans and multiple robots represent a novel field of research known as human multi-robot systems. Adequately designed systems within this field allow teams composed of both humans and robots to…
AI systems are being deployed to support human decision making in high-stakes domains. In many cases, the human and AI form a team, in which the human makes decisions after reviewing the AI's inferences. A successful partnership requires…
Consider an assistive system that guides visually impaired users through speech and haptic feedback to their destination. Existing robotic and ubiquitous navigation technologies (e.g., portable, ground, or wearable systems) often operate in…
When working around other agents such as humans, it is important to model their perception capabilities to predict and make sense of their behavior. In this work, we consider agents whose perception capabilities are determined by their…