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As robots increasingly operate in shared, safety critical environments, acting safely is no longer sufficient robots must also make their safety decisions intelligible to human collaborators. In human robot collaboration (HRC), behaviours…
Producing robust task plans in human-robot collaborative missions is a critical activity in order to increase the likelihood of these missions completing successfully. Despite the broad research body in the area, which considers different…
In human-robot collaboration, the objectives of the human are often unknown to the robot. Moreover, even assuming a known objective, the human behavior is also uncertain. In order to plan a robust robot behavior, a key preliminary question…
Robots learn as they interact with humans. Consider a human teleoperating an assistive robot arm: as the human guides and corrects the arm's motion, the robot gathers information about the human's desired task. But how does the human know…
Human trust in automation plays an essential role in interactions between humans and automation. While a lack of trust can lead to a human's disuse of automation, over-trust can result in a human trusting a faulty autonomous system which…
This paper addresses the challenge of enabling a single robot to effectively assist multiple humans in decision-making for task planning domains. We introduce a comprehensive framework designed to enhance overall team performance by…
Due to agile developments in the field of robotics and human-robot interaction, prospective robotic agents are intended to play the role of teammates and partner with humans to perform operations, rather than tools that are replacing humans…
In this paper, we present a model set for designing human-robot collaboration (HRC) experiments. It targets a common scenario in HRC, which is the collaborative assembly of furniture, and it consists of a combination of standard components…
Humans can selectively focus on different information based on different tasks requirements, other people's abilities and availability. Therefore, they can adapt quickly to a completely different and complex environments. If, like people,…
As the autonomy and capabilities of robotic systems increase, they are expected to play the role of teammates rather than tools and interact with human collaborators in a more realistic manner, creating a more human-like relationship. Given…
We are developing a system for human-robot communication that enables people to communicate with robots in a natural way and is focused on solving problems in a shared space. Our strategy for developing this system is fundamentally…
A robot operating in isolation needs to reason over the uncertainty in its model of the world and adapt its own actions to account for this uncertainty. Similarly, a robot interacting with people needs to reason over its uncertainty over…
An important tradition in philosophy holds that in order to successfully perform a joint action, the participants must be capable of establishing commitments on joint goals and shared plans. This suggests that social robotics should endow…
Common experience suggests that agents who know each other well are better able to work together. In this work, we address the problem of calibrating intention and capabilities in human-robot collaboration. In particular, we focus on…
Robotic agents that share autonomy with a human should leverage human domain knowledge and account for their preferences when completing a task. This extra knowledge can dramatically improve plan efficiency and user-satisfaction, but these…
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…
Human-robot interaction can be divided into two categories based on the physical distance between the human and robot: remote and proximal. In proximal interaction, the human and robot often engage in close coordination; in remote…
As an important contributor to GDP growth, the construction industry is suffering from labor shortage due to population ageing, COVID-19 pandemic, and harsh environments. Considering the complexity and dynamics of construction environment,…
In Human-Robot Interaction (HRI) systems, a challenging task is sharing the representation of the operational environment, fusing symbolic knowledge and perceptions, between users and robots. With the existing HRI pipelines, users can teach…
A new and relatively unexplored research direction in robotics systems is the coordination of humans and robots working as a team. In this paper, we focus upon problem domains and tasks in which multiple robots, humans and other agents are…