相关论文: Planning for Automated Vehicles with Human Trust

Humans' trust in AI constitutes a pivotal element in fostering a synergistic relationship between humans and AI. This is particularly significant in the context of systems that leverage AI technology, such as autonomous driving systems and…

In robotics, ensuring that autonomous systems are comprehensible and accountable to users is essential for effective human-robot interaction. This paper introduces a novel approach that integrates user-centered design principles directly…

Trust in robots has been gathering attention from multiple directions, as it has special relevance in the theoretical descriptions of human-robot interactions. It is essential for reaching high acceptance and usage rates of robotic…

One of the key factors determining whether autonomous vehicles (AVs) can be seamlessly integrated into existing traffic systems is their ability to interact smoothly and efficiently with human drivers and communicate their intentions. While…

Human awareness in robot motion planning is crucial for seamless interaction with humans. Many existing techniques slow down, stop, or change the robot's trajectory locally to avoid collisions with humans. Although using the information on…

Mixed observable Markov decision processes (MOMDPs) are a modeling framework for autonomous systems described by both fully and partially observable states. In this work, we study the problem of synthesizing a control policy for MOMDPs that…

We synthesize shared control protocols subject to probabilistic temporal logic specifications. More specifically, we develop a framework in which a human and an autonomy protocol can issue commands to carry out a certain task. We blend…

This paper considers an optimal task allocation problem for human robot collaboration in human robot systems with persistent tasks. Such human robot systems consist of human operators and intelligent robots collaborating with each other to…

Trust in automation has been mainly studied in the cognitive perspective, though some researchers have shown that trust is also influenced by emotion. Therefore, it is essential to investigate the relationships between emotions and trust.…

The main goal in task planning is to build a sequence of actions that takes an agent from an initial state to a goal state. In robotics, this is particularly difficult because actions usually have several possible results, and sensors are…

With the rise of AI and automation, moral decisions are being put into the hands of algorithms that were formerly the preserve of humans. In autonomous driving, a variety of such decisions with ethical implications are made by algorithms…

In this paper we present a model predictive control (MPC) approach to optimize vehicle scheduling and routing in an autonomous mobility-on-demand (AMoD) system. In AMoD systems, robotic, self-driving vehicles transport customers within an…

Navigating in environments alongside humans requires agents to reason under uncertainty and account for the beliefs and intentions of those around them. Under a sequential decision-making framework, egocentric navigation can naturally be…

Many intelligent transportation systems are multi-agent systems, i.e., both the traffic participants and the subsystems within the transportation infrastructure can be modeled as interacting agents. The use of AI-based methods to achieve…

A trust-aware safe control system for autonomous navigation in the presence of humans, specifically pedestrians, is presented. The system combines model predictive control (MPC) with control barrier functions (CBFs) and trust estimation to…

Autonomous systems are often required to operate in partially observable environments. They must reliably execute a specified objective even with incomplete information about the state of the environment. We propose a methodology to…

Online planning for partially observable Markov decision processes (POMDPs) provides efficient techniques for robot decision-making under uncertainty. However, existing methods fall short of preventing safety violations in dynamic…

This paper is on decision making of autonomous vehicles for handling roundabouts. The round intersection is introduced first followed by the Markov Decision Processes (MDP), the Partially Observable Markov Decision Processes (POMDP) and the…

We present a novel approach for risk-aware planning with human agents in multi-agent traffic scenarios. Our approach takes into account the wide range of human driver behaviors on the road, from aggressive maneuvers like speeding and…

This paper examines how trust is formed, maintained, or diminished over time in the context of human-autonomy teaming with an optionally piloted aircraft. Whereas traditional factor-based trust models offer a static representation of human…