相关论文: A Bayesian-Based Approach to Human Operator Intent…

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 introduces the notion of danger awareness in the context of Human-Robot Interaction (HRI), which decodes whether a human is aware of the existence of the robot, and illuminates whether the human is willing to engage in enforcing…

Employing skin-like tactile sensors on robots enhances both the safety and usability of collaborative robots by adding the capability to detect human contact. Unfortunately, simple binary tactile sensors alone cannot determine the context…

This paper explores the feasibility of employing EEG-based intention detection for real-time robot assistive control. We focus on predicting and distinguishing motor intentions of left/right arm movements by presenting: i) an offline data…

We present EWareNet, a novel intent and affect-aware social robot navigation algorithm among pedestrians. Our approach predicts the trajectory-based pedestrian intent from gait sequence, which is then used for intent-guided navigation…

This work introduces an adaptive Bayesian algorithm for real-time trajectory prediction via intention inference, where a target's intentions and motion characteristics are unknown and subject to change. The method concurrently estimates two…

Game-theoretic motion planners are a potent solution for controlling systems of multiple highly interactive robots. Most existing game-theoretic planners unrealistically assume a priori objective function knowledge is available to all…

We propose a predictive runtime monitoring framework that forecasts the distribution of future positions of mobile robots in order to detect and avoid impending property violations such as collisions with obstacles or other agents. Our…

Human teams exhibit both implicit and explicit intention sharing. To further development of human-robot collaboration, intention recognition is crucial on both sides. Present approaches rely on a vast sensor suite on and around the robot to…

In outdoor environments, mobile robots are required to navigate through terrain with varying characteristics, some of which might significantly affect the integrity of the platform. Ideally, the robot should be able to identify areas that…

We study the problem of learning a navigation policy for a robot to actively search for an object of interest in an indoor environment solely from its visual inputs. While scene-driven visual navigation has been widely studied, prior…

We present a real-time algorithm for emotion-aware navigation of a robot among pedestrians. Our approach estimates time-varying emotional behaviors of pedestrians from their faces and trajectories using a combination of Bayesian-inference,…

In several application areas, such as human computer interaction, surveillance and defence, determining the intent of a tracked object enables systems to aid the user/operator and facilitate effective, possibly automated, decision making.…

This paper presents a teleoperation system that includes robot perception and intent prediction from hand gestures. The perception module identifies the objects present in the robot workspace and the intent prediction module which object…

Recent advances in the field of machine learning have led to new ways for mobile robots to acquire advanced navigational capabilities. However, these learning-based methods raise the possibility that learned navigation behaviors may not…

Proactively perceiving others' intentions is a crucial skill to effectively interact in unstructured, dynamic and novel environments. This work proposes a first step towards embedding this skill in support robots for search and rescue…

Active inference is a theory that underpins the way biological agent's perceive and act in the real world. At its core, active inference is based on the principle that the brain is an approximate Bayesian inference engine, building an…

Interaction intention anticipation aims to jointly predict future hand trajectories and interaction hotspots. Existing research often treated trajectory forecasting and interaction hotspots prediction as separate tasks or solely considered…

Intent inferencing in teleoperation has been instrumental in aligning operator goals and coordinating actions with robotic partners. However, current intent inference methods often ignore subtle motion that can be strong indicators for a…

Shared control can help in teleoperated object manipulation by assisting with the execution of the user's intention. To this end, robust and prompt intention estimation is needed, which relies on behavioral observations. Here, an intention…