相关论文: Socially intelligent task and motion planning for …

Robot navigation in dense human crowds poses a significant challenge due to the complexity of human behavior in dynamic and obstacle-rich environments. In this work, we propose a dynamic weight adjustment scheme using a neural network to…

In this paper, a robot navigating an environment shared with humans is considered, and a cost function that can be exploited in $\text{RRT}^\text{X}$, a randomized sampling-based replanning algorithm that guarantees asymptotic optimality,…

In order to be effective teammates, robots need to be able to understand high-level human behavior to recognize, anticipate, and adapt to human motion. We have designed a new approach to enable robots to perceive human group motion in…

In a human-robot interaction system, the most important thing to consider is the safety of the user. This must be guaranteed in order to implement a reliable system. The main objective of this paper is to generate a safe motion scheme that…

In order to ensure efficient flow of goods in an automated warehouse and to guarantee its continuous distribution to/from picking stations in an effective way, decisions about which goods will be delivered to which particular picking…

To have a robot actively supporting a human during a collaborative task, it is crucial that robots are able to identify the current action in order to predict the next one. Common approaches make use of high-level knowledge, such as object…

Social navigation for bipedal robots remains relatively unexplored due to the highly complex, nonlinear dynamics of bipedal locomotion. This study presents a preliminary exploration of social navigation for bipedal robots in a human crowded…

Relational networks within a team play a critical role in the performance of many real-world multi-robot systems. To successfully accomplish tasks that require cooperation and coordination, different agents (e.g., robots) necessitate…

In this paper we address mobile manipulation planning problems in the presence of sensing and environmental uncertainty. In particular, we consider mobile sensing manipulators operating in environments with unknown geometry and uncertain…

In real-world industrial environments, modern robots often rely on human operators for crucial decision-making and mission synthesis from individual tasks. Effective and safe collaboration between humans and robots requires systems that can…

Social robotic navigation has been at the center of numerous studies in recent years. Most of the research has focused on driving the robotic agent along obstacle-free trajectories, respecting social distances from humans, and predicting…

The study of human-robot interaction is fundamental to the design and use of robotics in real-world applications. Robots will need to predict and adapt to the actions of human collaborators in order to achieve good performance and improve…

This paper addresses non-prehensile rearrangement planning problems where a robot is tasked to rearrange objects among obstacles on a planar surface. We present an efficient planning algorithm that is designed to impose few assumptions on…

Prospection is an important part of how humans come up with new task plans, but has not been explored in depth in robotics. Predicting multiple task-level is a challenging problem that involves capturing both task semantics and continuous…

An interactive robot framework accomplishes long-horizon task planning and can easily generalize to new goals and distinct tasks, even during execution. However, most traditional methods require predefined module design, making it hard to…

Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to…

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…

Interactions within human societies are usually regulated by social norms. If robots are to be accepted into human society, it is essential that they are aware of and capable of reasoning about social norms. In this paper, we focus on how…

Navigating social robots in dense, dynamic crowds is challenging due to environmental uncertainty and complex human-robot interactions. While Model Predictive Control (MPC) offers strong real-time performance, its reliance on a fixed…

Robots are increasingly entering the daily lives of families, yet their successful integration into domestic life remains a challenge. We explore family routines as a critical entry point for understanding how robots might find a…