相关论文: Safe Human-Interactive Control via Shielding

Within a robot autonomy stack, the planner and controller are typically designed separately, and serve different purposes. As such, there is often a diffusion of responsibilities when it comes to ensuring safety for the robot. We propose…

The use of Artificial Intelligence (AI) in high-risk, decision-making scenarios presents technical, safety, and normative challenges; problems that may only be ameliorated by human oversight. However, notions of human oversight lack a…

The ultrasound scanning robot operates in environments where frequent human-robot interactions occur. Most existing control methods for ultrasound scanning address only one specific interaction situation or implement hard switches between…

Balancing safety and efficiency when planning in crowded scenarios with uncertain dynamics is challenging where it is imperative to accomplish the robot's mission without incurring any safety violations. Typically, chance constraints are…

This paper addresses the problem of human-based driver support. Nowadays, driver support systems help users to operate safely in many driving situations. Nevertheless, these systems do not fully use the rich information that is available…

Control systems are critical to modern technological infrastructure, spanning industries from aerospace to healthcare. This survey explores the landscape of safe robot learning, investigating methods that balance high-performance control…

This paper describes a framework for multi-robot coordination and motion planning with emphasis on inter-agent interactions. We focus on the characterization of inter-agent interactions with sufficient level of abstraction so as to allow…

How can humans stay in control of advanced artificial intelligence systems? One proposal is corrigibility, which requires the agent to follow the instructions of a human overseer, without inappropriately influencing them. In this paper, we…

AI safety is still largely framed as alignment: training models to follow human preferences, safety policies, and normative constraints. That framing has improved the behavior of modern language models, but aligned behavior does not by…

Robots applications in our daily life increase at an unprecedented pace. As robots will soon operate "out in the wild", we must identify the safety and security vulnerabilities they will face. Robotics researchers and manufacturers focus…

Nowadays, robots are increasingly operated in environments shared with humans, where conflicts between human and robot behaviors may compromise safety. This paper presents a proactive behavioral conflict avoidance framework based on the…

Nowadays, robots are expected to interact more physically, cognitively, and socially with people. They should adapt to unpredictable contexts alongside individuals with various behaviours. For this reason, personalisation is a valuable…

Aerial manipulation for safe physical interaction with their environments is gaining significant momentum in robotics research. In this paper, we present a disturbance-observer-based safety-critical control for a fully actuated aerial…

Safety has become one of the main challenges of applying deep reinforcement learning to real world systems. Currently, the incorporation of external knowledge such as human oversight is the only means to prevent the agent from visiting the…

In this paper, the problem of making a safe compliant contact between a human and an assistive robot is considered. Users with disabilities have a need to utilize their assistive robots for physical human-robot interaction (PHRI) during…

This paper addresses motion replanning in human-robot collaborative scenarios, emphasizing reactivity and safety-compliant efficiency. While existing human-aware motion planners are effective in structured environments, they often struggle…

Robots are more capable of achieving manipulation tasks for everyday activities than before. But the safety of manipulation skills that robots employ is still an open problem. Considering all possible failures during skill learning…

As drones and autonomous cars become more widespread it is becoming increasingly important that robots can operate safely under realistic conditions. The noisy information fed into real systems means that robots must use estimates of the…

Trust between team members is an essential requirement for any successful cooperation. Thus, engendering and maintaining the fellow team members' trust becomes a central responsibility for any member trying to not only successfully…

The reasoning capabilities of embodied agents introduce a critical, under-explored inferential privacy challenge, where the risk of an agent generate sensitive conclusions from ambient data. This capability creates a fundamental tension…