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In this paper, we present a planning framework that uses a combination of implicit (robot motion) and explicit (visual/audio/haptic feedback) communication during mobile robot navigation. First, we developed a model that approximates both…
The new industrial settings are characterized by the presence of human and robots that work in close proximity, cooperating in performing the required job. Such a collaboration, however, requires to pay attention to many aspects. Firstly,…
This paper investigates the task-driven exploration of unknown environments with mobile sensors communicating compressed measurements. The sensors explore the area and transmit their compressed data to another robot, assisting it to reach…
Successful adoption of industrial robots will strongly depend on their ability to safely and efficiently operate in human environments, engage in natural communication, understand their users, and express intentions intuitively while…
Transparency is a key factor in improving the performance of human-robot interaction. A transparent interface allows humans to be aware of the state of a robot and to assess the progress of the tasks at hand. When multi-robot systems are…
As the use of Augmented Reality (AR) to enhance interactions between human agents and robotic systems in a work environment continues to grow, robots must communicate their intents in informative yet straightforward ways. This improves the…
Teleoperation of humanoid robots enables the integration of the cognitive skills and domain expertise of humans with the physical capabilities of humanoid robots. The operational versatility of humanoid robots makes them the ideal platform…
Robots often have to perform manipulation tasks in close proximity to people. As such, it is desirable to use a robot arm that has limited joint torques to not injure the nearby person and interacts with the environment to explore new…
Multi-robot navigation is increasingly crucial in various domains, including disaster response, autonomous vehicles, and warehouse and manufacturing automation. Robot teams often must operate in highly dynamic environments and under strict…
As humanity prepares for new missions to the Moon and Mars, astronauts will need to operate with greater autonomy, given the communication delays that make real-time support from Earth difficult. For instance, messages between Mars and…
Cyber human interaction is a broad term encompassing the range of interactions that humans can have with technology. While human interaction with fixed and mobile computers is well understood, the world is on the cusp of ubiquitous and…
Continuous surveillance of a spatial region using distributed robots and sensors is a well-studied application in the area of multi-agent systems. This paper investigates a practically-relevant scenario where robotic sensors are introduced…
An important open question in human-robot interaction (HRI) is precisely when an agent should decide to communicate, particularly in a cooperative task. Perceptual Control Theory (PCT) tells us that agents are able to cooperate on a joint…
In the rapidly evolving landscape of Human-Robot Collaboration (HRC), effective communication between humans and robots is crucial for complex task execution. Traditional request-response systems often lack naturalness and may hinder…
The breakthrough in AI and Machine Learning has brought a new revolution in robotics, resulting in the construction of more sophisticated robotic systems. Not only can these robotic systems benefit all domains, but also can accomplish tasks…
A wide range of human-robot collaborative applications in diverse domains such as manufacturing, health care, the entertainment industry, and social interactions, require an autonomous robot to follow its human companion. Different working…
Remote robot manipulation with human control enables applications where safety and environmental constraints are adverse to humans (e.g. underwater, space robotics and disaster response) or the complexity of the task demands human-level…
To perform tasks well in a new domain, one must first know something about it. This paper reports on a robot controller for navigation through unfamiliar indoor worlds. Based on spatial affordances, it integrates planning with reactive…
Planetary exploration missions require robots capable of navigating extreme and unknown environments. While wheeled rovers have dominated past missions, their mobility is limited to traversable surfaces. Legged robots, especially…
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…