Related papers: Adaptive Human-Robot Collaborative Missions using …
In this paper, we demonstrate a formulation for optimizing coupled submodular maximization problems with provable sub-optimality bounds. In robotics applications, it is quite common that optimization problems are coupled with one another…
We propose a generic multi-robot planning mechanism that combines an optimal task planner and an optimal path planner to provide a scalable solution for complex multi-robot planning problems. The Integrated planner, through the interaction…
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…
Effective human-robot collaboration requires informed anticipation. The robot must anticipate the human's actions, but also react quickly and intuitively when its predictions are wrong. The robot must plan its actions to account for the…
In this paper, we consider a first step to bridge a gap in coordinating task planning robots. Specifically, we study the automatic construction of languages that are maximally flexible while being sufficiently explicative for coordination.…
This paper addresses a synchronization problem that arises when a team of aerial robots (ARs) need to communicate while performing assigned tasks in a cooperative scenario. Each robot has a limited communication range and flies within a…
We present an integrated Task-Motion Planning framework for robot navigation in belief space. Autonomous robots operating in real world complex scenarios require planning in the discrete (task) space and the continuous (motion) space. To…
In a Human-Robot Cooperation (HRC) environment, safety and efficiency are the two core properties to evaluate robot performance. However, safety mechanisms usually hinder task efficiency since human intervention will cause backup motions…
This paper proposes a preliminary work on a Conditional Task and Motion Planning algorithm able to find a plan that minimizes robot efforts while solving assigned tasks. Unlike most of the existing approaches that replan a path only when it…
It is well-known that a deep understanding of co-workers' behavior and preference is important for collaboration effectiveness. In this work, we present a method to accomplish smooth human-robot collaboration in close proximity by taking…
Human-robot collaboration in construction is often challenged by limited robot-to-human communication and the need to adapt to tolerance accumulation arising from material and assembly uncertainties. We present an adaptive human-robot…
Allocating tasks to heterogeneous robot teams in environments with uncertain task requirements is a fundamentally challenging problem. Redundantly assigning multiple robots to such tasks is overly conservative, while purely reactive…
Several task and motion planning algorithms have been proposed recently to design paths for mobile robot teams with collaborative high-level missions specified using formal languages, such as Linear Temporal Logic (LTL). However, the…
Socially aware robot navigation is a planning paradigm where the robot navigates in human environments and tries to adhere to social constraints while interacting with the humans in the scene. These navigation strategies were further…
Over the last decade, the use of robots in production and daily life has increased. With increasingly complex tasks and interaction in different environments including humans, robots are required a higher level of autonomy for efficient…
Pushing is a simple yet effective skill for robots to interact with and further change the environment. Related work has been mostly focused on utilizing it as a non-prehensile manipulation primitive for a robotic manipulator. However, it…
Multi-robot systems are emerging as a promising solution to the growing demand for productivity, safety, and adaptability across industrial sectors. However, effectively coordinating multiple robots in dynamic and uncertain environments,…
This paper presents a planning algorithm designed to improve cooperative robot behavior concerning human comfort during forceful human-robot physical interaction. Particularly, we are interested in planning for object grasping and…
When robots entered our day-to-day life, the shared space surrounding humans and robots is critical for effective Human-Robot collaboration. The design of shared space should satisfy humans' preferences and robots' efficiency. This work…
We study the computational complexity of optimally solving multi-robot path planning problems on planar graphs. For four common time- and distance-based objectives, we show that the associated path optimization problems for multiple robots…