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Mobile telepresence robots (MTRs) allow people to navigate and interact with a remote environment that is in a place other than the person's true location. Thanks to the recent advances in 360 degree vision, many MTRs are now equipped with…

Autonomous exploration allows mobile robots to navigate in initially unknown territories in order to build complete representations of the environments. In many real-life applications, environments often contain dynamic obstacles which can…

We address the problem of controlling a mobile robot to explore a partially known environment. The robot's objective is the maximization of the amount of information collected about the environment. We formulate the problem as a partially…

A motion-based control interface promises flexible robot operations in dangerous environments by combining user intuitions with the robot's motor capabilities. However, designing a motion interface for non-humanoid robots, such as…

Traversing 3-D complex environments has always been a significant challenge for legged locomotion. Existing methods typically rely on external sensors such as vision and lidar to preemptively react to obstacles by acquiring environmental…

In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…

In order to be effective partners for humans, robots must become increasingly comfortable with making contact with their environment. Unfortunately, it is hard for robots to distinguish between ``just enough'' and ``too much'' force: some…

In this paper, we aim to achieve a human-robot work balance by implementing shared autonomy through a web interface. Shared autonomy integrates user input with the autonomous capabilities of the robot and therefore increases the overall…

Industrial robot applications require increasingly flexible systems that non-expert users can easily adapt for varying tasks and environments. However, different adaptations benefit from different interaction modalities. We present an…

This paper explores the use of 3D lidar in a physical Human-Robot Interaction (pHRI) scenario. To achieve the aforementioned, experiments were conducted to mimic a modern shop-floor environment. Data was collected from a pool of seventeen…

This article presents a novel telepresence system for advancing aerial manipulation in dynamic and unstructured environments. The proposed system not only features a haptic device, but also a virtual reality (VR) interface that provides…

Robots today can exploit the rich world knowledge of large language models to chain simple behavioral skills into long-horizon tasks. However, robots often get interrupted during long-horizon tasks due to primitive skill failures and…

In this work, we address the problem of ensuring real-time safety in autonomous robot navigation, in spatially constrained dynamic environments, by utilizing only onboard sensors. We present a real-time control architecture that integrates…

Tool use is essential for enabling robots to perform complex real-world tasks, but learning such skills requires extensive datasets. While teleoperation is widely used, it is slow, delay-sensitive, and poorly suited for dynamic tasks. In…

In recent years, autonomous agents have surged in real-world environments such as our homes, offices, and public spaces. However, natural human-robot interaction remains a key challenge. In this paper, we introduce an approach that…

The growing spread of robots for service and industrial purposes calls for versatile, intuitive and portable interaction approaches. In particular, in industrial environments, operators should be able to interact with robots in a fast,…

Spatial computing experiences are physically constrained by the geometry and semantics of the local user environment. This limitation is elevated in remote multi-user interaction scenarios, where finding a common virtual ground physically…

Immersive reality technologies, such as Virtual and Augmented Reality, have ushered a new era of user-centric systems, in which every aspect of the coding--delivery--rendering chain is tailored to the interaction of the users. Understanding…

Efficient and intuitive Human-Robot interfaces are crucial for expanding the user base of operators and enabling new applications in critical areas such as precision agriculture, automated construction, rehabilitation, and environmental…

The number of robots deployed in our daily surroundings is ever-increasing. Even in the industrial set-up, the use of coworker robots is increasing rapidly. These cohabitant robots perform various tasks as instructed by co-located human…