相关论文: Trust Repairing for Human-Swarm Cooperation inDyna…

Robot swarms often exhibit emergent behaviors that are fascinating to observe; however, it is often difficult to predict what swarm behaviors can emerge under a given set of agent capabilities. We seek to efficiently leverage human input to…

Unmanned aerial vehicle (UAV) swarms are increasingly used in critical applications such as aerial mapping, environmental monitoring, and autonomous delivery. However, the reliability of these systems is highly dependent on uninterrupted…

AI is being increasingly used to aid response efforts to humanitarian emergencies at multiple levels of decision-making. Such AI systems are generally understood to be stand-alone tools for decision support, with ethical assessments,…

This paper proposes an Active Inference-based framework for autonomous trajectory design in UAV swarms. The method integrates probabilistic reasoning and self-learning to enable distributed mission allocation, route ordering, and motion…

A smart grid is a widely distributed engineering system with overhead transmission lines. Physical damage to these power lines, from natural calamities or technical failures, will disrupt the functional integrity of the grid. To ensure the…

Aerial manipulator, which is composed of an UAV (Unmanned Aerial Vehicle) and a multi-link manipulator and can perform aerial manipulation, has shown great potential of applications. However, dynamic coupling between the UAV and the…

In human-robot cooperation, the robot cooperates with humans to accomplish the task together. Existing approaches assume the human has a specific goal during the cooperation, and the robot infers and acts toward it. However, in real-world…

Shared autonomy teleoperation can guarantee safety, but does so by reducing the human operator's control authority, which can lead to reduced levels of human-robot agreement and user satisfaction. This paper presents a novel haptic shared…

Trustworthiness is a crucial concept in the context of human-robot interaction. Cooperative robots must be transparent regarding their decision-making process, especially when operating in a human-oriented environment. This paper presents a…

Fighting wildfires is a precarious task, imperiling the lives of engaging firefighters and those who reside in the fire's path. Firefighters need online and dynamic observation of the firefront to anticipate a wildfire's unknown…

We consider scenarios where a worker robot, who may be unaware of the human's exact expectations, may have the incentive to deviate from a preferred plan (e.g. safe but costly) when a human supervisor is not monitoring it. On the other…

In this paper, we present a framework for trust-aware sequential decision-making in a human-robot team. We model the problem as a finite-horizon Markov Decision Process with a reward-based performance metric, allowing the robotic agent to…

When we go for a walk with friends, we can observe an interesting effect: From step lengths to arm movements - our movements unconsciously align; they synchronize. Prior research found that this synchronization is a crucial aspect of human…

Shared-autonomy imitation learning lets a human correct a robot in real time, mitigating covariate-shift errors. Yet existing approaches ignore two critical factors: (i) the operator's cognitive load and (ii) the risk created by delayed or…

Human-swarm interaction has recently gained attention due to its plethora of new applications in disaster relief, surveillance, rescue, and exploration. However, if the task difficulty increases, the performance of the human operator…

Shared autonomy integrates user input with robot autonomy in order to control a robot and help the user to complete a task. Our work aims to improve the performance of such a human-robot team: the robot tries to guide the human towards an…

Wildland fire fighting is a very dangerous job, and the lack of information of the fire front is one of main reasons that causes many accidents. Using unmanned aerial vehicle (UAV) to cover wildfire is promising because it can replace human…

This paper presents an empirically grounded agent-based model capturing trust dynamics, workload distribution, and collaborative performance in human-robot teams. The model, implemented in NetLogo 6.4.0, simulates teams of 2--10 agents…

Human-supervision in multi-agent teams is a critical requirement to ensure that the decision-maker's risk preferences are utilized to assign tasks to robots. In stressful complex missions that pose risk to human health and life, such as…

Inspired by the increased cooperation between humans and autonomous systems, we present a new hybrid systems framework capturing the interconnected dynamics underlying these interactions. The framework accommodates models arising from both…