相关论文: Towards an immersive user interface for waypoint n…
In this paper, we propose and evaluate a novel human-machine interface (HMI) for controlling a standing mobility vehicle or person carrier robot, aiming for a hands-free control through upper-body natural postures derived from gaze tracking…
This paper considers the problem of designating navigation goal locations for interactive mobile robots. We propose a point-and-click interface, implemented with an Augmented Reality (AR) headset. The cameras on the AR headset are used to…
Model-based control is a popular paradigm for robot navigation because it can leverage a known dynamics model to efficiently plan robust robot trajectories. However, it is challenging to use model-based methods in settings where the…
This paper considers the problem of enabling the user to modify the path of a telepresence robot. The robot is capable of autonomously navigating to a goal predefined by the user, but the user might still want to modify the path, for…
Efficient motion intent communication is necessary for safe and collaborative work environments with collocated humans and robots. Humans efficiently communicate their motion intent to other humans through gestures, gaze, and social cues.…
Mobile telepresence robots (MTRs) have become increasingly popular in the expanding world of remote work, providing new avenues for people to actively participate in activities at a distance. However, humans operating MTRs often have…
Aligning robot navigation with human preferences is essential for ensuring comfortable, and predictable robot movement in shared spaces. While preference-based learning methods, such as reinforcement learning from human feedback (RLHF),…
Human navigation is facilitated through the association of actions with landmarks, tapping into our ability to recognize salient features in our environment. Consequently, navigational instructions for humans can be extremely concise, such…
In recent years, Virtual Reality (VR) Head-Mounted Displays (HMD) have been used to provide an immersive, first-person view in real-time for the remote-control of Unmanned Ground Vehicles (UGV). One critical issue is that it is challenging…
Robots are becoming more capable and can autonomously perform tasks such as navigating between locations. However, human oversight remains crucial. This study compared two touchless methods for directing mobile robots: voice control and…
Recent research has proposed teleoperation of robotic and aerial vehicles using head motion tracked by a head-mounted display (HMD). First-person views of the vehicles are usually captured by onboard cameras and presented to users through…
Companies all over the world started to produce and sell telepresence robots in the last decade. Users of these robots have to plan their way to avoid collisions and control the speed of the robot to move it to destination point. This…
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…
As the capability and complexity of UAVs continue to increase, the human-robot interface community has a responsibility to design better ways of specifying the complex 3D flight paths necessary for instructing them. Immersive interfaces,…
Nowadays, autonomous mobile robots support people in many areas where human presence either redundant or too dangerous. They have successfully proven themselves in expeditions, gas industry, mines, warehouses, etc. However, even legged…
We address the problem of controlling the workspace of a 3-DoF mobile robot. In a human-robot shared space, robots should navigate in a human-acceptable way according to the users' demands. For this purpose, we employ virtual borders, that…
Object selection is essential in virtual reality (VR) head-mounted displays (HMDs). Prior work mainly focuses on enhancing and evaluating techniques for selecting a single object in VR, leaving a gap in the techniques for multi-object…
For the best human-robot interaction experience, the robot's navigation policy should take into account personal preferences of the user. In this paper, we present a learning framework complemented by a perception pipeline to train a depth…
Augmented Reality (AR) navigation via Head-Mounted Displays (HMDs), particularly AR glasses, is revolutionizing the driving experience by integrating real-time routing information into the driver's field of view. Despite the potential of AR…
For the most comfortable, human-aware robot navigation, subjective user preferences need to be taken into account. This paper presents a novel reinforcement learning framework to train a personalized navigation controller along with an…