Related papers: From Task Allocation to Risk Clearing: A Unifying …
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…
In this demo work we develop a method to plan and coordinate a multi-agent team to gather information on demand. The data is periodically requested by a static Operation Center (OC) from changeable goals locations. The mission of the team…
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 for cooperative robots ("co-robots") to respond to human behaviors accurately and efficiently in human-robot collaboration, interpretation of human actions, awareness of new situations, and appropriate decision making are all…
We propose integrating the edge-computing paradigm into the multi-robot collaborative scheduling to maximize resource utilization for complex collaborative tasks, which many robots must perform together. Examples include collaborative…
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…
Individual agent capabilities have advanced rapidly through modular skills and tool integrations, yet multi-agent systems remain constrained by fixed team structures, tightly coupled coordination logic, and session-bound learning. We argue…
When solving a complex task, humans will spontaneously form teams and to complete different parts of the whole task, respectively. Meanwhile, the cooperation between teammates will improve efficiency. However, for current cooperative MARL…
For many tasks, multi-robot teams often provide greater efficiency, robustness, and resiliency. However, multi-robot collaboration in real-world scenarios poses a number of major challenges, especially when dynamic robots must balance…
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…
The presence and coexistence of human operators and collaborative robots in shop-floor environments raises the need for assigning tasks to either operators or robots, or both. Depending on task characteristics, operator capabilities and the…
Robots sometimes have to work together with a mixture of partially-aligned or conflicting goals. Flocking - coordinated motion through cohesion, alignment, and separation - traditionally assumes uniform desired inter-agent distances. Many…
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…
This work presents Adaptive Robot Coordination (ARC), a novel hybrid framework for multi-robot motion planning (MRMP) that employs local subproblems to resolve inter-robot conflicts. ARC creates subproblems centered around conflicts, and…
In human-robot collaboration (HRC), it is crucial for robot agents to consider humans' knowledge of their surroundings. In reality, humans possess a narrow field of view (FOV), limiting their perception. However, research on HRC often…
For a team of heterogeneous robots executing multiple tasks, we propose a novel algorithm to optimally allocate tasks to robots while accounting for their different capabilities. Motivated by the need that robot teams have in many…
Coordination in multi-agent systems is challenging for agile robots such as unmanned aerial vehicles (UAVs), where relative agent positions frequently change due to unconstrained movement. The problem is exacerbated through the individual…
By incorporating ergonomics principles into the task allocation processes, human-robot collaboration (HRC) frameworks can favour the prevention of work-related musculoskeletal disorders (WMSDs). In this context, existing offline…
Despite cobots have high potential in bringing several benefits in the manufacturing and logistic processes, but their rapid (re-)deployment in changing environments is still limited. To enable fast adaptation to new product demands and to…
Decentralized planning for multi-agent systems, such as fleets of robots in a search-and-rescue operation, is often constrained by limitations on how agents can communicate with each other. One such limitation is the case when agents can…