Related papers: Optimized Scheduling and Positioning of Mobile Man…
Robotic manipulation in complex, constrained spaces is vital for widespread applications but challenging, particularly when navigating narrow passages with elongated objects. Existing planning methods often fail in these low-clearance…
Multiple mobile manipulators show superiority in the tasks requiring mobility and dexterity compared with a single robot, especially when manipulating/transporting bulky objects. However, closed-chain of the system, redundancy of each…
Most animal and human locomotion behaviors for solving complex tasks involve dynamic motions and rich contact interaction. In fact, complex maneuvers need to consider dynamic movement and contact events at the same time. We present a…
Automated scheduling is potentially a very useful tool for facilitating efficient, intuitive interactions between a robot and a human teammate. However, a current gapin automated scheduling is that it is not well understood how to best…
In many multi-robot applications, mobile worker robots are often engaged in performing some tasks repetitively by following pre-computed trajectories. As these robots are battery-powered, they need to get recharged at regular intervals. We…
We consider a multi-robot system with a team of collaborative robots and multiple tasks that emerges over time. We propose a fully decentralized task and path planning (DTPP) framework consisting of a task allocation module and a localized…
One way of ensuring operator's safety during human-robot collaboration is through Speed and Separation Monitoring (SSM), as defined in ISO standard ISO/TS 15066. In general, it is impossible to avoid all human-robot collisions: consider for…
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…
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…
A number of coordinated behaviors have been proposed for achieving specific tasks for multi-robot systems. However, since most applications require more than one such behavior, one needs to be able to compose together sequences of behaviors…
This paper considers an optimal task allocation problem for human robot collaboration in human robot systems with persistent tasks. Such human robot systems consist of human operators and intelligent robots collaborating with each other to…
This paper investigates the task coordination of multi-robot where each robot has a private individual temporal logic task specification; and also has to jointly satisfy a globally given collaborative temporal logic task specification. To…
We focus on the problem of designing an artificial agent (AI), capable of assisting a human user to complete a task. Our goal is to guide human users towards optimal task performance while keeping their cognitive load as low as possible.…
Modular reconfigurable manipulators enable quick adaptation and versatility to address different application environments and tailor to the specific requirements of the tasks. Task performance significantly depends on the manipulator's…
This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace, each of which is assigned a linear temporal logic specification. Based on the realistic assumptions that each robot is…
Many planning applications involve complex relationships defined on high-dimensional, continuous variables. For example, robotic manipulation requires planning with kinematic, collision, visibility, and motion constraints involving robot…
The number of multi-robot systems deployed in field applications has increased dramatically over the years. Despite the recent advancement of navigation algorithms, autonomous robots often encounter challenging situations where the control…
For robots to be a part of our daily life, they need to be able to navigate among crowds not only safely but also in a socially compliant fashion. This is a challenging problem because humans tend to navigate by implicitly cooperating with…
This article introduces a software framework for benchmarking robot task scheduling algorithms in dynamic and uncertain service environments. The system provides standardized interfaces, configurable scenarios with movable objects, human…
We present an optimization-based method to plan the motion of an autonomous robot under the uncertainties associated with dynamic obstacles, such as humans. Our method bounds the marginal risk of collisions at each point in time by…