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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,…
Ground robots navigating in complex, dynamic environments must compute collision-free trajectories to avoid obstacles safely and efficiently. Nonconvex optimization is a popular method to compute a trajectory in real-time. However, these…
The increasing presence of robots alongside humans, such as in human-robot teams in manufacturing, gives rise to research questions about the kind of behaviors people prefer in their robot counterparts. We term actions that support…
Human-robot teaming is one of the most important applications of artificial intelligence in the fast-growing field of robotics. For effective teaming, a robot must not only maintain a behavioral model of its human teammates to project the…
Collaborative robots can relief human operators from excessive efforts during payload lifting activities. Modelling the human partner allows the design of safe and efficient collaborative strategies. In this paper, we present a control…
Path planning in the presence of dynamic obstacles is a challenging problem due to the added time dimension in search space. In approaches that ignore the time dimension and treat dynamic obstacles as static, frequent re-planning is…
Multi-robot coordination is crucial for autonomous systems, yet real-world deployments often encounter various failures. These include both temporary and permanent disruptions in sensing and communication, which can significantly degrade…
Multi-robot task allocation is a ubiquitous problem in robotics due to its applicability in a variety of scenarios. Adaptive task-allocation algorithms account for unknown disturbances and unpredicted phenomena in the environment where…
Legged robots have the potential to traverse highly constrained environments with agile maneuvers. However, planning such motions requires solving a highly challenging optimization problem with a mixture of continuous and discrete decision…
Most object manipulation strategies for robots are based on the assumption that the object is rigid (i.e., with fixed geometry) and the goal's details have been fully specified (e.g., the exact target pose). However, there are many tasks…
This paper aims to develop a new human-machine interface to improve rehabilitation performance from the perspective of both the user (patient) and the machine (robot) by introducing the co-adaption techniques via model-based reinforcement…
This paper presents a hierarchical framework to solve the multi-robot temporal task planning problem. We assume that each robot has its individual task specification and the robots have to jointly satisfy a global collaborative task…
Achieving effective and seamless human-robot collaboration requires two key outcomes: enhanced team performance and fostering a positive human perception of both the robot and the collaboration. This paper investigates the capability of the…
Loco-manipulation planning skills are pivotal for expanding the utility of robots in everyday environments. These skills can be assessed based on a system's ability to coordinate complex holistic movements and multiple contact interactions…
This paper proposes a novel integrated dynamic method based on Behavior Trees for planning and allocating tasks in mixed human robot teams, suitable for manufacturing environments. The Behavior Tree formulation allows encoding a single job…
Remarkable capabilities have been achieved by robotics and AI, mastering complex tasks and environments. Yet, humans often remain passive observers, fascinated but uncertain how to engage. Robots, in turn, cannot reach their full potential…
In order to fully exploit the advantages inherent to cooperating heterogeneous multi-robot teams, sophisticated coordination algorithms are essential. Time-extended multi-robot task allocation approaches assign and schedule a set of tasks…
Industrial robots are widely used in diverse manufacturing environments. Nonetheless, how to enable robots to automatically plan trajectories for changing tasks presents a considerable challenge. Further complexities arise when robots…
Task allocation plays a vital role in multi-robot autonomous cleaning systems, where multiple robots work together to clean a large area. However, most current studies mainly focus on deterministic, single-task allocation for cleaning…
As humanoid robots enter real-world environments, ensuring robust locomotion across diverse environments is crucial. This paper presents a computationally efficient hierarchical control framework for humanoid robot locomotion based on…