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For robots to seamlessly interact with humans, we first need to make sure that humans and robots understand one another. Diverse algorithms have been developed to enable robots to learn from humans (i.e., transferring information from…
The increasing complexity of natural disaster incidents demands innovative technological solutions to support first responders in their efforts. This paper introduces the TRIFFID system, a comprehensive technical framework that integrates…
Due to the distributed nature of cooperative simultaneous localization and mapping (CSLAM), detecting inter-robot loop closures necessitates sharing sensory data with other robots. A na\"{\i}ve approach to data sharing can easily lead to a…
Autonomous robots often encounter challenging situations where their control policies fail and an expert human operator must briefly intervene, e.g., through teleoperation. In settings where multiple robots act in separate environments, a…
With robots leaving factories and entering less controlled domains, possibly sharing the space with humans, safety is paramount and multimodal awareness of the body surface and the surrounding environment is fundamental. Taking inspiration…
Multi-robot systems are an efficient method to explore and map an unknown environment. The simulataneous localization and mapping (SLAM) algorithm is common for single robot systems, however multiple robots can share respective map data in…
There are several challenges for search and rescue robots: mobility, perception, autonomy, and communication. Inspired by the DARPA Subterranean (SubT) Challenge, we propose an autonomous blimp robot, which has the advantages of low power…
We present a multimodal interaction framework suitable for a human rescuer that operates in proximity with a set of co-located drones during search missions. This work is framed in the context of the SHERPA project whose goal is to develop…
This paper proposes a novel swarm-based control algorithm for exploration and coverage of unknown environments, while maintaining a formation that permits short-range communication. The algorithm combines two elements: swarm rules for…
A reliable communication network is essential for multiple UAVs operating within obstacle-cluttered environments, where limited communication due to obstructions often occurs. A common solution is to deploy intermediate UAVs to relay…
The proliferation of robots in public spaces necessitates a deeper understanding of how these robots can interact with those they share the space with. In this paper, we present findings from video analysis of publicly deployed cleaning…
In the rapidly evolving landscape of human-robot collaboration, effective communication between humans and robots is crucial for complex task execution. Traditional request-response systems often lack naturalness and may hinder efficiency.…
Efficient exploration strategies are vital in tasks such as search-and-rescue missions and disaster surveying. Unmanned Aerial Vehicles (UAVs) have become particularly popular in such applications, promising to cover large areas at high…
Robotic guidance systems have shown promise in supporting blind and visually impaired (BVI) individuals with wayfinding and obstacle avoidance. However, most existing systems assume a clear path and do not support a critical aspect of…
Studies of human-robot interaction in dynamic and unstructured environments show that as more advanced robotic capabilities are deployed, the need for cooperative competencies to support collaboration with human problem-holders increases.…
This paper addresses a safe planning and control problem for mobile robots operating in communication- and sensor-limited dynamic environments. In this case the robots cannot sense the objects around them and must instead rely on…
In this paper, we develop a distributed intermittent communication and task planning framework for mobile robot teams. The goal of the robots is to accomplish complex tasks, captured by local Linear Temporal Logic formulas, and share the…
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…
Shared autonomy is a promising paradigm in robotic systems, particularly within the maritime domain, where complex, high-risk, and uncertain environments necessitate effective human-robot collaboration. This paper investigates the…
For decades, robotics researchers have pursued various tasks for multi-robot systems, from cooperative manipulation to search and rescue. These tasks are multi-robot extensions of classical robotic tasks and often optimized on dimensions…