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Symbolic motion planning for robots is the process of specifying and planning robot tasks in a discrete space, then carrying them out in a continuous space in a manner that preserves the discrete-level task specifications. Despite progress…
Trust-aware human-robot interaction (HRI) has received increasing research attention, as trust has been shown to be a crucial factor for effective HRI. Research in trust-aware HRI discovered a dilemma -- maximizing task rewards often leads…
In autonomous vehicle (AV) technology, the ability to accurately predict the movements of surrounding vehicles is paramount for ensuring safety and operational efficiency. Incorporating human decision-making insights enables AVs to more…
Physical human-robot collaboration requires strict safety guarantees since robots and humans work in a shared workspace. This letter presents a novel control framework to handle safety-critical position-based constraints for human-robot…
This paper presents a novel method to quantify Trust in HRI. It proposes an HRI framework for estimating the Robot Trust towards the Human in the context of a narrow and specified task. The framework produces a real-time estimation of an AI…
Shared control systems aim to combine human and robot abilities to improve task performance. However, achieving optimal performance requires that the robot's level of assistance adjusts the operator's cognitive workload in response to the…
Human-robot collaboration (HRC) in structured assembly requires reliable state estimation and adaptive task planning under noisy perception and human interventions. To address these challenges, we introduce a design-grounded human-aware…
Human robot collaboration (HRC) is becoming increasingly important as the paradigm of manufacturing is shifting from mass production to mass customization. The introduction of HRC can significantly improve the flexibility and intelligence…
To design trustworthy robots, we need to understand the impact factors of trust: people's attitudes, experience, and characteristics; the robot's physical design, reliability, and performance; a task's specification and the circumstances…
Collaborative robots can relief human operators from excessive efforts during payload lifting activities. Modelling the human partner allows the design of safe and efficient collaborative strategies. In this paper, we present a control…
A trust-aware safe control system for autonomous navigation in the presence of humans, specifically pedestrians, is presented. The system combines model predictive control (MPC) with control barrier functions (CBFs) and trust estimation to…
In safety-critical robot planning or control, manually specifying safety constraints or learning them from demonstrations can be challenging. In this article, we propose a certifiable alignment method for a robot to learn a safety…
Fluent human--robot collaboration requires robots to continuously estimate human behaviour and anticipate future intentions. This entails reasoning jointly about \emph{continuous movements} and \emph{discrete actions}, which are still…
This paper investigates the critical role of trust and fatigue in human-cobot collaborative order picking, framing the challenge within the scope of Logistics 5.0: the implementation of human-robot symbiosis in smart logistics. We propose a…
Accurate temporal prediction is the bridge between comprehensive scene understanding and embodied artificial intelligence. However, predicting multiple fine-grained states of a scene at multiple temporal scales is difficult for…
Recent advancements in integrating tactile sensing with vision-language models (VLMs) have demonstrated remarkable potential for robotic multimodal perception. However, existing tactile descriptions remain limited to superficial attributes…
The growing deployment of human-robot collaborative processes in several industrial applications, such as handling, welding, and assembly, unfolds the pursuit of systems which are able to manage large heterogeneous teams and, at the same…
In recent years a modern conceptualization of trust in human-robot interaction (HRI) was introduced by Ullman et al.\cite{ullman2018does}. This new conceptualization of trust suggested that trust between humans and robots is…
Ensuring safety in human-robot interaction (HRI) is essential to foster user trust and enable the broader adoption of robotic systems. Traditional safety models primarily rely on sensor-based measures, such as relative distance and…
To investigate the functional and social acceptance of a humanoid robot, we carried out an experimental study with 56 adult participants and the iCub robot. Trust in the robot has been considered as a main indicator of acceptance in…