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Foundation models can endow robots with open-ended reasoning, language understanding, and adaptive planning, yet connecting a model to a physical robot today requires bespoke integration that couples perception, actuation, and safety to a…
With the advances in robotic technology, research in human-robot collaboration (HRC) has gained in importance. For robots to interact with humans autonomously they need active decision making that takes human partners into account. However,…
This paper presents the development of a fully autonomous delivery robot integrating mechanical engineering, embedded systems, and artificial intelligence. The platform employs a heterogeneous computing architecture, with RPi 5 and ROS 2…
Human-Robot Interaction, in which a robot with some level of autonomy interacts with a human to achieve a specific goal has seen much recent progress. With the introduction of autonomous robots and the possibility of widespread use of those…
This paper explores the concept of engagement, the process by which individuals in an interaction start, maintain and end their perceived connection to one another. The paper reports on one aspect of engagement among human interactors--the…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
Delicate industrial insertion tasks (e.g., PC board assembly) remain challenging for industrial robots. The challenges include low error tolerance, delicacy of the components, and large task variations with respect to the components to be…
Fault tolerance is a critical aspect of modern computing systems, ensuring correct functionality in the presence of faults. This paper presents a comprehensive survey of fault tolerance methods and software-based mitigation techniques in…
The ease of use of robot programming interfaces represents a barrier to robot adoption in several manufacturing sectors because of the need for more expertise from the end-users. Current robot programming methods are mostly the past…
Intelligent escape is an interdisciplinary field that employs artificial intelligence (AI) techniques to enable robots with the capacity to intelligently react to potential dangers in dynamic, intricate, and unpredictable scenarios. As the…
As robots become more integrated into society, detecting robot errors is essential for effective human-robot interaction (HRI). When a robot fails repeatedly, how can it know when to change its behavior? Humans naturally respond to robot…
Long-term autonomy of robotic systems implicitly requires dependable platforms that are able to naturally handle hardware and software faults, problems in behaviors, or lack of knowledge. Model-based dependable platforms additionally…
Hugs are complex affective interactions that often include gestures like squeezes. We present six new guidelines for designing interactive hugging robots, which we validate through two studies with our custom robot. To achieve autonomy, we…
The foundation of this paper is an experiment of fifteen participants interacting directly with an autonomous robot. The task for the participants was to carry a table, in two different setups, together with a robot, which is intended to…
Most of the intrusion detection datasets to research machine learning-based intrusion detection systems (IDSs) are devoted to cyber-only systems, and they typically collect data from one architectural layer. Additionally, often the attacks…
Complex robot behaviour typically requires the integration of multiple robotic and Artificial Intelligence (AI) techniques and components. Integrating such disparate components into a coherent system, while also ensuring global properties…
Robots are typically not created with security as a main concern. Contrasting to typical IT systems, cyberphysical systems rely on security to handle safety aspects. In light of the former, classic scoring methods such as the Common…
Embodied Artificial Intelligence Robots (EAIR) is an emerging and rapidly evolving technological domain. Ensuring their program correctness is fundamental to their successful deployment. However, a general and in-depth understanding of EAIR…
We are witnessing a rapid increase in real-world autonomous robotic deployments in environments ranging from indoor homes and commercial establishments to large-scale urban areas, with applications ranging from domestic assistance to urban…
Building trust between humans and robots has long interested the robotics community. Various studies have aimed to clarify the factors that influence the development of user trust. In Human-Robot Interaction (HRI) environments, a critical…