Related papers: Learning Fast, Tool aware Collision Avoidance for …
Collision avoidance in unknown obstacle-cluttered environments may not always be feasible. This paper focuses on an emerging paradigm shift in which potential collisions with the environment can be harnessed instead of being avoided…
To operate reactively in uncertain environments, robots need to be able to quickly estimate the risk that they will collide with their environment. This ability is important for both planning (to ensure that plans maintain acceptable levels…
Safe and efficient collaboration among multiple robots in unstructured environments is increasingly critical in the era of Industry 4.0. However, achieving robust and autonomous collaboration among humans and other robots requires modern…
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…
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…
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…
Multi-robot systems are increasingly being used for critical applications such as rescuing injured people, delivering food and medicines, and monitoring key areas. These applications usually involve navigating at high speeds through…
Aerial robots are a well-established solution for exploration, monitoring, and inspection, thanks to their superior maneuverability and agility. However, in many environments, they risk crashing and sustaining damage after collisions.…
Collaborative robots (cobots) increasingly operate alongside humans, demanding robust real-time safeguarding. Current safety standards (e.g., ISO 10218, ANSI/RIA 15.06, ISO/TS 15066) require risk assessments but offer limited guidance for…
For tasks conducted in unknown environments with efficiency requirements, real-time navigation of multi-robot systems remains challenging due to unfamiliarity with surroundings.In this paper, we propose a novel multi-robot collaborative…
Robust and flexible leader-following is a critical capability for robots to integrate into human society. While existing methods struggle to generalize to leaders of arbitrary form and often fail when the leader temporarily leaves the…
Collision detection via visual fences can significantly enhance the safety of collaborative robotic arms. Existing work typically performs such detection based on pre-deployed stationary cameras outside the robotic arm's workspace. These…
Collaborative robots are being increasingly utilized in industrial production lines due to their efficiency and accuracy. However, the close proximity between humans and robots can pose safety risks due to the robot's high-speed movements…
Evaluating and updating the obstacle avoidance velocity for an autonomous robot in real-time ensures robustness against noise and disturbances. A passive damping controller can obtain the desired motion with a torque-controlled robot, which…
When robots handle navigation tasks while avoiding collisions, they perform in crowded and complex environments not as good as in stable and homogeneous environments. This often results in a low success rate and poor efficiency. Therefore,…
A flexible operation of multiple robotic manipulators in a shared workspace requires an online trajectory planning with static and dynamic collision avoidance. In this work, we propose a real-time capable motion control algorithm, based on…
Human-robot co-carrying tasks reveal their potential in both industrial and everyday applications by leveraging the strengths of both parties. Effective control of robots in these tasks requires managing the energy level in the closed-loop…
Human-robot collaboration requires precise prediction of human motion over extended horizons to enable proactive collision avoidance. Unlike existing planners that rely solely on kinodynamic models, we present a prediction-driven safe…
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…
Shared-autonomy imitation learning lets a human correct a robot in real time, mitigating covariate-shift errors. Yet existing approaches ignore two critical factors: (i) the operator's cognitive load and (ii) the risk created by delayed or…