相关论文: Human-Centered Autonomy for UAS Target Search

Last-mile delivery systems commonly propose the use of autonomous robotic vehicles to increase scalability and efficiency. The economic inefficiency of collecting accurate prior maps for navigation motivates the use of planning algorithms…

Motion planning is an essential process for the navigation of unmanned aerial vehicles (UAVs) where they need to adapt to obstacles and different structures of their operating environment to reach the goal. This paper presents an optimal…

A self-driving vehicle must understand its environment to determine the appropriate action. Traditional autonomy systems rely on object detection to find the agents in the scene. However, object detection assumes a discrete set of objects…

This paper studies the optimal resource allocation problem within a multi-agent network composed of both autonomous agents and humans. The main challenge lies in the globally coupled constraints that link the decisions of autonomous agents…

In this work, we propose a novel shared autonomy framework to operate articulated robots. We provide strategies to design both the task-oriented hierarchical planning and policy shaping algorithms for efficient human-robot interactions in…

In unknown non-convex environments, such as indoor and underground spaces, deploying a fleet of robots to explore the surroundings while simultaneously searching for and tracking targets of interest to maintain high-precision data…

We introduce a mission planning concept for routing unmanned aerial vehicles (UAVs) through a set of sampling locations in the immediate aftermath of an incident such as a fire or chemical accident. Using interpolation methods that account…

In shared autonomy, user input is combined with semi-autonomous control to achieve a common goal. The goal is often unknown ex-ante, so prior work enables agents to infer the goal from user input and assist with the task. Such methods tend…

This paper addresses the problem of autonomous UAV search missions, where a UAV must locate specific Entities of Interest (EOIs) within a time limit, based on brief descriptions in large, hazard-prone environments with keep-out zones. The…

Constraint-based control approaches offer a flexible way to specify robotic manipulation tasks and execute them on robots with many degrees of freedom. However, the specification of task constraints and their associated priorities usually…

To enable safe and efficient human-robot collaboration in shared workspaces it is important for the robot to predict how a human will move when performing a task. While predicting human motion for tasks not known a priori is very…

Predicting the location where a lost person could be found is crucial for search and rescue operations with limited resources. To improve the precision and efficiency of these predictions, simulated agents can be created to emulate the…

This paper describes a technique for the autonomous mission planning of robotic swarms in high risk environments where agent disablement is likely. Given a swarm operating in a known area, a central command system generates measurements…

Manipulation in confined and cluttered environments remains a significant challenge due to partial observability and complex configuration spaces. Effective manipulation in such environments requires an intelligent exploration strategy to…

Current research on robust trajectory planning for autonomous agents aims to mitigate uncertainties arising from disturbances and modeling errors while ensuring guaranteed safety. Existing methods primarily utilize stochastic optimal…

As unmanned aerial systems (UASs) increasingly integrate into the US national airspace system, there is an increasing need to characterize how commercial and recreational UASs may encounter each other. To inform the development and…

Rapid sampling from the environment to acquire available frontier points and timely incorporating them into subsequent planning to reduce fragmented regions are critical to improve the efficiency of autonomous exploration. We propose HPHS,…

Highway pilot assist has become the front line of competition in advanced driver assistance systems. The increasing requirements on safety and user acceptance are calling for personalization in the development process of such systems.…

Robotic tasks which involve uncertainty--due to variation in goal, environment configuration, or confidence in task model--may require human input to instruct or adapt the robot. In tasks with physical contact, several existing methods for…

Humanoid robots dynamically navigate an environment by interacting with it via contact wrenches exerted at intermittent contact poses. Therefore, it is important to consider dynamics when planning a contact sequence. Traditional contact…