Related papers: Digital-Twin Evaluation for Proactive Human-Robot …
Online generation of collision free trajectories is of prime importance for autonomous navigation. Dynamic environments, robot motion and sensing uncertainties adds further challenges to collision avoidance systems. This paper presents an…
Safely deploying robots in uncertain and dynamic environments requires a systematic accounting of various risks, both within and across layers in an autonomy stack from perception to motion planning and control. Many widely used motion…
In this work, we propose a new approach that combines data from multiple sensors for reliable obstacle avoidance. The sensors include two depth cameras and a LiDAR arranged so that they can capture the whole 3D area in front of the robot…
Complex tasks require human collaboration since robots do not have enough dexterity. However, robots are still used as instruments and not as collaborative systems. We are introducing a framework to ensure safety in a human-robot…
The new paradigm of human-robot collaboration has led to the creation of shared work environments in which humans and robots work in close contact with each other. Consequently, the safety regulations have been updated addressing these new…
Knowing "what is happening" and "what will happen" of the mobility in a city is the building block of a data-driven smart city system. In recent years, mobility digital twin that makes a virtual replication of human mobility and predicting…
With the rapid development of intelligent vehicles and Advanced Driver-Assistance Systems (ADAS), a new trend is that mixed levels of human driver engagements will be involved in the transportation system. Therefore, necessary visual…
As robots increasingly integrate into everyday environments, ensuring their safe navigation around humans becomes imperative. Efficient and safe motion planning requires robots to account for human behavior, particularly in constrained…
Autonomous surface vessels (ASVs) play an increasingly important role in the safety and sustainability of open sea operations. Since most maritime accidents are related to human failure, intelligent algorithms for autonomous collision…
With the development of human space exploration, the space environment is gradually filled with abandoned satellite debris and unknown micrometeorites, which will seriously affect capture motion of space robot. Hence, a novel fast…
To enable safe and effective human-robot collaboration (HRC) in smart manufacturing, seamless integration of sensing, cognition, and prediction into the robot controller is critical for real-time awareness, response, and communication…
This paper presents a method for local motion planning in unstructured environments with static and moving obstacles, such as humans. Given a reference path and speed, our optimization-based receding-horizon approach computes a local…
Vehicle tracking, motion estimation, and collision prediction are fundamental components of traffic safety and management in Intelligent Transportation Systems (ITS). Many recent approaches rely on computationally intensive prediction…
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…
When a mobile robot lacks high onboard computing or networking capabilities, it can rely on remote computing architecture for its control and autonomy. This paper introduces a novel collaborative Simulation Twin (ST) strategy for control…
The collaboration between humans and robots re-quires a paradigm shift not only in robot perception, reasoning, and action, but also in the design of the robotic cell. This paper proposes an optimization framework for designing…
This paper contributes a method to design a novel navigation planner exploiting a learning-based collision prediction network. The neural network is tasked to predict the collision cost of each action sequence in a predefined motion…
In physical Human-Robot Collaboration (pHRC), accurate human intent estimation and rational human-robot role allocation are crucial for safe and efficient assistance. Existing methods that rely on short-term motion data for intention…
Cooperation of automated vehicles (AVs) can improve safety, efficiency and comfort in traffic. Digital twins of Cooperative Intelligent Transport Systems (C-ITS) play an important role in monitoring, managing and improving traffic.…
Understanding the intentions of human teammates is critical for safe and effective human-robot interaction. The canonical approach for human-aware robot motion planning is to first predict the human's goal or path, and then construct a…