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

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…

Autonomous motion planning is critical for efficient and safe underwater manipulation in dynamic marine environments. Current motion planning methods often fail to effectively utilize prior motion experiences and adapt to real-time…

Real-world robots often operate in settings where objective priorities depend on the underlying context of operation. When the underlying context is unknown apriori, multiple robots may have to coordinate to gather informative observations…

We present a substantial extension of our Human-Aware Task Planning framework, tailored for scenarios with intermittent shared execution experiences and significant belief divergence between humans and robots, particularly due to the…

Using a dual-task paradigm, we explore how robot actions, performance, and the introduction of a secondary task influence human trust and engagement. In our study, a human supervisor simultaneously engages in a target-tracking task while…

Rapid developments in artificial intelligence technology have led to unmanned systems replacing human beings in many fields requiring high-precision predictions and decisions. In modern operational environments, all job plans are affected…

Autonomous navigation guided by natural language instructions is essential for improving human-robot interaction and enabling complex operations in dynamic environments. While large language models (LLMs) are not inherently designed for…

Understanding human intentions is critical for safe and effective human-robot collaboration. While state of the art methods for human goal prediction utilize learned models to account for the uncertainty of human motion data, that data is…

Human awareness in robot motion planning is crucial for seamless interaction with humans. Many existing techniques slow down, stop, or change the robot's trajectory locally to avoid collisions with humans. Although using the information on…

The application of Multiple Unmanned Aerial Vehicles (Multi-UAV) in Wilderness Search and Rescue (WiSAR) significantly enhances mission success due to their rapid coverage of search areas from high altitudes and their adaptability to…

For successful goal-directed human-robot interaction, the robot should adapt to the intentions and actions of the collaborating human. This can be supported by musculoskeletal or data-driven human models, where the former are limited to…

As robots increasingly integrate into everyday environments, ensuring their safe navigation around humans becomes imperative. Efficient and safe motion planning requires robots to account for human behavior, particularly in constrained…

Demand for fast and economical parcel deliveries in urban environments has risen considerably in recent years. A framework envisions efficient last-mile delivery in urban environments by leveraging a network of ride-sharing vehicles, where…

Task planning for autonomous agents has typically been done using deep learning models and simulation-based reinforcement learning. This research proposes combining inductive learning techniques with goal-directed answer set programming to…

This paper presents the framework for a novel Unified Socially-Aware Navigation (USAN) architecture and explains its need in Socially Assistive Robotics (SAR) applications. Our approach emphasizes interpersonal distance and how spatial…

Autonomous robots have real-world applications in diverse fields, such as mobile manipulation and environmental exploration, and many such tasks benefit from a hands-off approach in terms of human user involvement over a long task horizon.…

Advances in hardware technology have facilitated more integration of sophisticated software toward augmenting the development of Unmanned Vehicles (UVs) and mitigating constraints for onboard intelligence. As a result, UVs can operate in…

Effective human-robot collaboration in open-world environments requires joint planning under uncertain conditions. However, existing approaches often treat humans as passive supervisors, preventing autonomous agents from becoming human-like…

Multi-drone systems have become transformative technologies across various industries, offering innovative applications. However, despite significant advancements, their autonomous capabilities remain inherently limited. As a result, human…

This article aims to develop novel path planning algorithms required to deploy multiple unmanned vehicles in Global Positioning System (GPS) denied environments. Unmanned vehicles (ground or aerial) are ideal platforms for executing…