相关论文: Value of Assistance for Mobile Agents

Navigation is an essential ability for mobile agents to be completely autonomous and able to perform complex actions. However, the problem of navigation for agents with limited (or no) perception of the world, or devoid of a fully defined…

Assume that a target is known to be present at an unknown point among a finite set of locations in the plane. We search for it using a mobile robot that has imperfect sensing capabilities. It takes time for the robot to move between…

One difficulty in using artificial agents for human-assistive applications lies in the challenge of accurately assisting with a person's goal(s). Existing methods tend to rely on inferring the human's goal, which is challenging when there…

Proactive robot assistance enables a robot to anticipate and provide for a user's needs without being explicitly asked. We formulate proactive assistance as the problem of the robot anticipating temporal patterns of object movements…

This paper proposes a strategy to estimate the velocity and position of neighbor agents using distance measurements only. Since with agents executing arbitrary motions, instantaneous distance-only measurements cannot provide enough…

Remote sighted assistance (RSA) has emerged as a conversational assistive technology, where remote sighted workers, i.e., agents, provide real-time assistance to users with vision impairments via video-chat-like communication. Researchers…

Vision-Language-Action (VLA) models have recently made significant advance in multi-task, end-to-end robotic control, due to the strong generalization capabilities of Vision-Language Models (VLMs). A fundamental challenge in developing such…

We propose an autonomous exploration algorithm designed for decentralized multi-robot teams, which takes into account map and localization uncertainties of range-sensing mobile robots. Virtual landmarks are used to quantify the combined…

Conversational AIs, or chatbots, mimic human speech when conversing. Smart assistants facilitate the automation of several tasks that needed human intervention earlier. Because of their accuracy, absence of dependence on human resources,…

Human-Robot-Collaboration can enhance workflows by leveraging the mutual strengths of human operators and robots. Planning and understanding robot movements remain major challenges in this domain. This problem is prevalent in dynamic…

As autonomous robots are deployed in increasingly complex environments, platform degradation, environmental uncertainties, and deviations from validated operation conditions can make it difficult for human partners to understand robot…

Real-world applications require a robot operating in the physical world with awareness of potential risks besides accomplishing the task. A large part of risky behaviors arises from interacting with objects in ignorance of affordance. To…

This paper presents an approach to externally influencing a team of robots by means of time-varying density functions. These density functions represent rough references for where the robots should be located. To this end, a continuous-time…

Mobile robot platforms will increasingly be tasked with activities that involve grasping and manipulating objects in open world environments. Affordance understanding provides a robot with means to realise its goals and execute its tasks,…

An important focus of current research in the field of Micro Aerial Vehicles (MAVs) is to increase the safety of their operation in general unstructured environments. Especially indoors, where GPS cannot be used for localization, reliable…

As robotic teammates become more common in society, people will assess the robots' roles in their interactions along many dimensions. One such dimension is effectiveness: people will ask whether their robotic partners are trustworthy and…

Robot mobility is critical for mission success, especially in soft or deformable terrains, where the complex wheel-soil interaction mechanics often leads to excessive wheel slip and sinkage, causing the eventual mission failure. To improve…

The problem of planning a set of paths for the coalition of robots (agents) with different capabilities is considered in the paper. Some agents can modify the environment by destructing the obstacles thus allowing the other ones to shorten…

We consider the minimization of the cost of actuation error under resource constraints for real-time tracking in wireless autonomous systems. A transmitter monitors the state of a discrete random process and sends updates to the receiver…

AI agents are an exciting new research direction, and agent development is driven by benchmarks. Our analysis of current agent benchmarks and evaluation practices reveals several shortcomings that hinder their usefulness in real-world…