Related papers: Digital-Twin Evaluation for Proactive Human-Robot …
As technology advances, the need for safe, efficient, and collaborative human-robot-teams has become increasingly important. One of the most fundamental collaborative tasks in any setting is the object handover. Human-to-robot handovers can…
To enable a natural and fluent human robot collaboration flow, it is critical for a robot to comprehend their human peers' on-going actions, predict their behaviors in the near future, and plan its actions correspondingly. Specifically, the…
Motion planning in an autonomous agent is responsible for providing smooth, safe and efficient navigation. Many solutions for dealing this problem have been offered, one of which is, Artificial Potential Fields (APF). APF is a simple and…
With the rapid development of intelligent vehicles and Advanced Driving Assistance Systems (ADAS), a mixed level of human driver engagements is involved in the transportation system. Visual guidance for drivers is essential under this…
Proactive robot assistance enables a robot to anticipate and provide for a user's needs without being explicitly asked. We formulate proactive assistance as the problem of the robot anticipating temporal patterns of object movements…
High absolute accuracy is an essential prerequisite for a humanoid robot to autonomously and robustly perform manipulation tasks while avoiding obstacles. We present for the first time a kinematic model for a humanoid upper body…
This paper presents the first probabilistic Digital Twin of operational en route airspace, developed for the London Area Control Centre. The Digital Twin is intended to support the development and rigorous human-in-the-loop evaluation of AI…
The ultimate navigation efficiency of mobile robots in human environments will depend on how we will appraise them: merely as impersonal machines or as human-like agents. In the latter case, an agent may take advantage of the cooperative…
We present a motion planner for planning through space-time with dynamic obstacles, velocity constraints, and unknown arrival time. Our algorithm, Space-Time RRT* (ST-RRT*), is a probabilistically complete, bidirectional motion planning…
As robots are being increasingly used in close proximity to humans and objects, it is imperative that robots operate safely and efficiently under real-world conditions. Yet, the environment is seldom known perfectly. Noisy sensors and…
A digital twin is a surrogate model that has the main feature to mirror the original process behavior. Associating the dynamical process with a digital twin model of reduced complexity has the significant advantage to map the dynamics with…
Digital Twins (DT) have the potential to transform traffic management and operations by creating dynamic, virtual representations of transportation systems that sense conditions, analyze operations, and support decision-making. A key…
This paper proposes a novel safety specification tool, called the distributionally robust risk map (DR-risk map), for a mobile robot operating in a learning-enabled environment. Given the robot's position, the map aims to reliably assess…
In order for automated mobile vehicles to navigate in the real world with minimal collision risks, it is necessary for their planning algorithms to consider uncertainties from measurements and environmental disturbances. In this paper, we…
The anticipation of human behavior is a crucial capability for robots to interact with humans safely and efficiently. We employ a smart edge sensor network to provide global observations, future predictions, and goal information to…
As autonomous robots increasingly become part of daily life, they will often encounter dynamic environments while only having limited information about their surroundings. Unfortunately, due to the possible presence of malicious dynamic…
Realizing the potential gains of large-scale MIMO systems requires the accurate estimation of their channels or the fine adjustment of their narrow beams. This, however, is typically associated with high channel acquisition/beam sweeping…
This paper addresses motion replanning in human-robot collaborative scenarios, emphasizing reactivity and safety-compliant efficiency. While existing human-aware motion planners are effective in structured environments, they often struggle…
The deployment of autonomous service robots in human-centric environments is hindered by a critical gap in perception and planning. Traditional navigation systems rely on expensive LiDARs that, while geometrically precise, are semantically…
Generating accurate and efficient predictions for the motion of the humans present in the scene is key to the development of effective motion planning algorithms for robots moving in promiscuous areas, where wrong planning decisions could…