相关论文: Learning Evacuee Models from Robot-Guided Emergenc…

Developing robots that can assist humans efficiently, safely, and adaptively is crucial for real-world applications such as healthcare. While previous work often assumes a centralized system for co-optimizing human-robot interactions, we…

This paper proposes a robot action planning scheme that provides an efficient and probabilistically safe plan for a robot interacting with an unconcerned human -- someone who is either unaware of the robot's presence or unwilling to engage…

Robots that navigate through human crowds need to be able to plan safe, efficient, and human predictable trajectories. This is a particularly challenging problem as it requires the robot to predict future human trajectories within a crowd…

Collaborative robots can relief human operators from excessive efforts during payload lifting activities. Modelling the human partner allows the design of safe and efficient collaborative strategies. In this paper, we present a control…

Systems involving human-robot collaboration necessarily require that steps be taken to ensure safety of the participating human. This is usually achievable if accurate, reliable estimates of the human's pose are available. In this paper, we…

As robots become more integrated into society, detecting robot errors is essential for effective human-robot interaction (HRI). When a robot fails repeatedly, how can it know when to change its behavior? Humans naturally respond to robot…

The guiding task of a mobile robot requires not only human-aware navigation, but also appropriate yet timely interaction for active instruction. State-of-the-art tour-guide models limit their socially-aware consideration to adapting to…

Crowd movement guidance has been a fascinating problem in various fields, such as easing traffic congestion in unusual events and evacuating people from an emergency-affected area. To grab the reins of crowds, there has been considerable…

Collective behavior of people in large groups and emergent crowd dynamics can have dangerous and disastrous results when panic is introduced. These events can be caused by emergency situations such as fires in a large building or a…

Human-robot interaction frequently involves physical proximity or contact. In human-human settings, people flexibly accept, reject, or tolerate such approaches depending on the relationship and context. We explore the design of a robot's…

To facilitate human-robot interaction and gain human trust, a robot should recognize and adapt to changes in human behavior. This work documents different human behaviors observed while taking objects from an interactive robot in an…

Currently, studying the vehicle-human interactive behavior in the emergency needs a large amount of datasets in the actual emergent situations that are almost unavailable. Existing public data sources on autonomous vehicles (AVs) mainly…

In robotics, many control and planning schemes have been developed to ensure human physical safety in human-robot interaction. The human psychological state and the expectation towards the robot, however, are typically neglected. Even if…

Robot-assisted dressing offers an opportunity to benefit the lives of many people with disabilities, such as some older adults. However, robots currently lack common sense about the physical implications of their actions on people. The…

Human transports in hospitals are labor-intensive and primarily performed in beds to save time. This transfer method does not promote the mobility or autonomy of the patient. To relieve the caregivers from this time-consuming task, a mobile…

This work develops a novel trajectory planner for human-robot handovers. The handover requirements can naturally be handled by a path-following-based model predictive controller, where the path progress serves as a progress measure of the…

This article introduces a simulation platform to study complex crowd behavior in social context. The agent-based model is extended based on the social force model, and it mainly describes how agents interact with each other, and also with…

To investigate the evacuation behaviors of pedestrians considering action of the guard and develop an effective evacuation strategy in the artificial attack, an extended floor field model was proposed. In this model, the assault on…

In safety-critical robot planning or control, manually specifying safety constraints or learning them from demonstrations can be challenging. In this article, we propose a certifiable alignment method for a robot to learn a safety…

Humans are well-adept at navigating public spaces shared with others, where current autonomous mobile robots still struggle: while safely and efficiently reaching their goals, humans communicate their intentions and conform to unwritten…