Related papers: Digital-Twin Evaluation for Proactive Human-Robot …
We focus on the problem of how we can enable a robot to collaborate seamlessly with a human partner, specifically in scenarios where preexisting data is sparse. Much prior work in human-robot collaboration uses observational models of…
Humans have a remarkable ability to fluently engage in joint collision avoidance in crowded navigation tasks despite the complexities and uncertainties inherent in human behavior. Underlying these interactions is a mutual understanding that…
Proactive safety systems aim to mitigate risks by anticipating potential conflicts between vehicles and enabling early intervention to prevent work zone-related crashes. This study presents an infrastructure-enabled proactive work zone…
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…
Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on motion planning has followed two main strategies to provide a safe bound on an…
The ability to accurately predict others' behavior is central to the safety and efficiency of interactive robotics. Unfortunately, robots often lack access to key information on which these predictions may hinge, such as other agents'…
Digital network twin is a promising technology that replicates real-world networks in real-time and assists with the design, operation, and management of next-generation networks. However, existing approaches (e.g., simulator-based and…
Robust navigation in changing marine environments requires autonomous systems capable of perceiving, reasoning, and acting under uncertainty. This study introduces a hybrid risk-aware navigation architecture that integrates probabilistic…
In a Human-Robot Cooperation (HRC) environment, safety and efficiency are the two core properties to evaluate robot performance. However, safety mechanisms usually hinder task efficiency since human intervention will cause backup motions…
Effective human-robot teaming is crucial for the practical deployment of robots in human workspaces. However, optimizing joint human-robot plans remains a challenge due to the difficulty of modeling individualized human capabilities and…
Constraint-aware estimation of human intent is essential for robots to physically collaborate and interact with humans. Further, to achieve fluid collaboration in dynamic tasks intent estimation should be achieved in real-time. In this…
Artificial Intelligence and Digital Twins play an integral role in driving innovation in the domain of intelligent driving. Long short-term memory (LSTM) is a leading driver in the field of lane change prediction for manoeuvre anticipation.…
Digital Twin technology creates virtual replicas of physical objects, processes, or systems by replicating their properties, data, and behaviors. This advanced technology offers a range of intelligent functionalities, such as modeling,…
Safe path planning is critical for bipedal robots to operate in safety-critical environments. Common path planning algorithms, such as RRT or RRT*, typically use geometric or kinematic collision check algorithms to ensure collision-free…
We present a novel approach to perform probabilistic collision detection between a high-DOF robot and high-DOF obstacles in dynamic, uncertain environments. In dynamic environments with a high-DOF robot and moving obstacles, our approach…
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…
This paper focuses on the emerging paradigm shift of collision-inclusive motion planning and control for impact-resilient mobile robots, and develops a unified hierarchical framework for navigation in unknown and partially-observable…
The adoption process of innovative software-intensive technologies leverages complex trust concerns in different forms and shapes. Perceived safety plays a fundamental role in technology adoption, being especially crucial in the case of…
This paper presents the use of robust model predictive control for the design of an intent-aware collision avoidance system for multi-agent aircraft engaged in horizontal maneuvering scenarios. We assume that information from other agents…
Although Digital Twin is actively deployed in manufacturing, its human-centric counterpart - Human Digital Twin (HDT) is understudied, especially in job-shop production with high task variability and manual labor. HDT applications like…