相关论文: Planning for Automated Vehicles with Human Trust

The ability to estimate human intentions and interact with human drivers intelligently is crucial for autonomous vehicles to successfully achieve their objectives. In this paper, we propose a game theoretic planning algorithm that models…

Shared autonomy functions as a flexible framework that empowers robots to operate across a spectrum of autonomy levels, allowing for efficient task execution with minimal human oversight. However, humans might be intimidated by the…

Motion planning for autonomous vehicles sharing the road with human drivers remains challenging. The difficulty arises from three challenging aspects: human drivers are 1) multi-modal, 2) interacting with the autonomous vehicle, and 3)…

This paper presents a novel approach to modeling human driving behavior, designed for use in evaluating autonomous vehicle control systems in a simulation environments. Our methodology leverages a hierarchical forward-looking, risk-aware…

Humans are known to construct cognitive maps of their everyday surroundings using a variety of perceptual inputs. As such, when a human is asked for directions to a particular location, their wayfinding capability in converting this…

Autonomous drone technology holds significant promise for enhancing search and rescue operations during evacuations by guiding humans toward safety and supporting broader emergency response efforts. However, their application in dynamic,…

We explore trust in a relatively new area of data science: Automated Machine Learning (AutoML). In AutoML, AI methods are used to generate and optimize machine learning models by automatically engineering features, selecting models, and…

Autonomous systems often have logical constraints arising, for example, from safety, operational, or regulatory requirements. Such constraints can be expressed using temporal logic specifications. The system state is often partially…

Robot understanding of human intentions is essential for fluid human-robot interaction. Intentions, however, cannot be directly observed and must be inferred from behaviors. We learn a model of adaptive human behavior conditioned on the…

Trust is a multilayered concept with critical relevance when it comes to introducing new technologies. Understanding how humans will interact with complex vehicle systems and preparing for the functional, societal and psychological aspects…

Current robotic agents, such as autonomous vehicles (AVs) and drones, need to deal with uncertain real-world environments with appropriate situational awareness (SA), risk awareness, coordination, and decision-making. The SymAware project…

Current methods of deploying robots that operate in dynamic, uncertain environments, such as Uncrewed Aerial Systems in search \& rescue missions, require nearly continuous human supervision for vehicle guidance and operation. These methods…

Robots are increasingly deployed in spaces shared with humans, including home settings and industrial environments. In these environments, the interaction between humans and robots (HRI) is crucial for safety, legibility, and efficiency. A…

The goal of autonomous vehicles is to navigate public roads safely and comfortably. To enforce safety, traditional planning approaches rely on handcrafted rules to generate trajectories. Machine learning-based systems, on the other hand,…

In many practical settings control decisions must be made under partial/imperfect information about the evolution of a relevant state variable. Partially Observable Markov Decision Processes (POMDPs) is a relatively well-developed framework…

Principled accountability for autonomous decision-making in uncertain environments requires distinguishing intentional outcomes from negligent designs from actual accidents. We propose analyzing the behavior of autonomous agents through a…

Uncertainty plays a central role in spoken dialogue systems. Some stochastic models like Markov decision process (MDP) are used to model the dialogue manager. But the partially observable system state and user intention hinder the natural…

This paper explores cooperative trajectory planning approaches within the context of human-machine shared control. In shared control research, it is typically assumed that the human and the automation use the same reference trajectory to…

Currently, we are in an environment where the fraction of automated vehicles is negligibly small. We anticipate that this fraction will increase in coming decades before if ever, we have a fully automated transportation system. Motivated by…

As artificial intelligence (AI) algorithms are increasingly used in mission-critical applications, promoting user-trust of these systems will be essential to their success. Ensuring users understand the models over which algorithms reason…