相关论文: To Lead or to Follow? Adaptive Robot Task Planning…

Achieving effective and seamless human-robot collaboration requires two key outcomes: enhanced team performance and fostering a positive human perception of both the robot and the collaboration. This paper investigates the capability of the…

With the introduction of collaborative robots, humans and robots can now work together in close proximity and share the same workspace. However, this collaboration presents various challenges that need to be addressed to ensure seamless…

For multi-robot teams with heterogeneous capabilities, typical task allocation methods assign tasks to robots based on the suitability of the robots to perform certain tasks as well as the requirements of the task itself. However, in…

Producing robust task plans in human-robot collaborative missions is a critical activity in order to increase the likelihood of these missions completing successfully. Despite the broad research body in the area, which considers different…

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…

Human and robot partners increasingly need to work together to perform tasks as a team. Robots designed for such collaboration must reason about how their task-completion strategies interplay with the behavior and skills of their human team…

We consider the human-aware task planning problem where a human-robot team is given a shared task with a known objective to achieve. Recent approaches tackle it by modeling it as a team of independent, rational agents, where the robot plans…

In human-robot teams where agents collaborate together, there needs to be a clear allocation of tasks to agents. Task allocation can aid in achieving the presumed benefits of human-robot teams, such as improved team performance. Many task…

The requirements of modern production systems together with more advanced robotic technologies have fostered the integration of teams comprising humans and autonomous robots. However, along with the potential benefits also comes the…

The study of human-robot interaction is fundamental to the design and use of robotics in real-world applications. Robots will need to predict and adapt to the actions of human collaborators in order to achieve good performance and improve…

This paper investigates the task coordination of multi-robot where each robot has a private individual temporal logic task specification; and also has to jointly satisfy a globally given collaborative temporal logic task specification. To…

In human-robot collaboration, the objectives of the human are often unknown to the robot. Moreover, even assuming a known objective, the human behavior is also uncertain. In order to plan a robust robot behavior, a key preliminary question…

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…

Remarkable capabilities have been achieved by robotics and AI, mastering complex tasks and environments. Yet, humans often remain passive observers, fascinated but uncertain how to engage. Robots, in turn, cannot reach their full potential…

Understanding the intentions of human teammates is critical for safe and effective human-robot interaction. The canonical approach for human-aware robot motion planning is to first predict the human's goal or path, and then construct a…

This paper addresses the challenge of enabling a single robot to effectively assist multiple humans in decision-making for task planning domains. We introduce a comprehensive framework designed to enhance overall team performance by…

Effective human-robot collaboration requires informed anticipation. The robot must anticipate the human's actions, but also react quickly and intuitively when its predictions are wrong. The robot must plan its actions to account for the…

For effective human-robot collaboration, a robot must align its actions with human goals, even as they change mid-task. Prior approaches often assume fixed goals, reducing goal prediction to a one-time inference. However, in real-world…

As robots become ubiquitous in the workforce, it is essential that human-robot collaboration be both intuitive and adaptive. A robot's quality improves based on its ability to explicitly reason about the time-varying (i.e. learning curves)…

We study a human-robot collaborative transportation task in presence of obstacles. The task for each agent is to carry a rigid object to a common target position, while safely avoiding obstacles and satisfying the compliance and actuation…