Related papers: Follow Everything: A Leader-Following and Obstacle…
In this paper, we propose a leader-follower hierarchical strategy for two robots collaboratively transporting an object in a partially known environment with obstacles. Both robots sense the local surrounding environment and react to…
This paper presents a role-adaptive Leader-Follower-based formation planning and control framework for teams of quadruped robots operating in cluttered environments. Unlike conventional methods with fixed leaders or rigid formation roles,…
Leader-follower navigation is a popular class of multi-robot algorithms where a leader robot leads the follower robots in a team. The leader has specialized capabilities or mission-critical information (e.g. goal location) that the…
The integration of collaborative robots into industrial environments has improved productivity, but has also highlighted significant challenges related to operator safety and ergonomics. This paper proposes an innovative framework that…
This paper studies a multi-robot visibility-based pursuit-evasion problem in which a group of pursuer robots are tasked with detecting an evader within a two dimensional polygonal environment. The primary contribution is a novel formulation…
Real-time control is an essential aspect of safe robot operation in the real world with dynamic objects. We present a framework for the analysis of object-aware controllers, methods for altering a robot's motion to anticipate and avoid…
We consider a scenario where a team of robots with heterogeneous sensors must track a set of hostile targets which induce sensory failures on the robots. In particular, the likelihood of failures depends on the proximity between the targets…
Multi-robot coordination is crucial for autonomous systems, yet real-world deployments often encounter various failures. These include both temporary and permanent disruptions in sensing and communication, which can significantly degrade…
Given a mapped environment, we formulate the problem of visually tracking and following an evader using a probabilistic framework. In this work, we consider a non-holonomic robot with a limited visibility depth sensor in an indoor…
Object tracking is an essential task in computer vision that has been studied since the early days of the field. Being able to follow objects that undergo different transformations in the video sequence, including changes in scale,…
Learning strategic robot behavior -- like that required in pursuit-evasion interactions -- under real-world constraints is extremely challenging. It requires exploiting the dynamics of the interaction, and planning through both physical…
A question that many researchers in social robotics are addressing is how to create more human-like behaviour in robots to make the collaboration between a human and a robot more intuitive to the human partner. In order to develop a…
Ensuring safe and efficient operation of collaborative robots in human environments is challenging, especially in dynamic settings where both obstacle motion and tasks change over time. Current robot controllers typically assume full…
Given a two-dimensional polygonal space, the multi-robot visibility-based pursuit-evasion problem tasks several pursuer robots with the goal of establishing visibility with an arbitrarily fast evader. The best known complete algorithm for…
Personal mobile robotic assistants are expected to find wide applications in industry and healthcare. For example, people with limited mobility can benefit from robots helping with daily tasks, or construction workers can have robots…
Adaptive task planning is fundamental to ensuring effective and seamless human-robot collaboration. This paper introduces a robot task planning framework that takes into account both human leading/following preferences and performance,…
Robots need robust and flexible vision systems to perceive and reason about their environments beyond geometry. Most of such systems build upon deep learning approaches. As autonomous robots are commonly deployed in initially unknown…
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…
Object tracking is an essential problem in computer vision that has been researched for several decades. One of the main challenges in tracking is to adapt to object appearance changes over time and avoiding drifting to background clutter.…
Robot person following (RPF) is a core capability in human-robot interaction, enabling robots to assist users in daily activities, collaborative work, and other service scenarios. However, achieving practical RPF remains challenging due to…