相关论文: Safe Human-UAS Collaboration Abstraction

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…

The increasing deployment of robots in co-working scenarios with humans has revealed complex safety and efficiency challenges in the computation robot behavior. Movement among humans is one of the most fundamental -- and yet critical --…

Multi-robot teams have attracted attention from industry and academia for their ability to perform collaborative tasks in unstructured environments, such as wilderness rescue and collaborative transportation.In this paper, we propose a…

Due to the rapid development technologies for small unmanned aircraft systems (sUAS), the supply and demand market for sUAS is expanding globally. With the great number of sUAS ready to fly in civilian airspace, an sUAS aircraft traffic…

Full automation is often not achievable or desirable in critical systems with high-stakes decisions. Instead, human-AI teams can achieve better results. To research, develop, evaluate, and validate algorithms suited for such teaming,…

Mutual adaptation can significantly enhance overall task performance in human-robot co-transportation by integrating both the robot's and human's understanding of the environment. While human modeling helps capture humans' subjective…

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…

Traditional AI reasoning techniques have been used successfully in many domains, including logistics, scheduling and game playing. This paper is part of a project aimed at investigating how such techniques can be extended to coordinate…

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…

The use of semi-autonomous Unmanned Aerial Vehicles (UAVs or drones) to support emergency response scenarios, such as fire surveillance and search-and-rescue, has the potential for huge societal benefits. Onboard sensors and artificial…

With the rising popularity of UAVs in the civilian world, we are currently witnessing and paradim shift in terms of operational safety of flying vehicles. Safe and ubiquitous human-system interaction shall remain the core requirement but…

Small Unmanned Aircraft Systems (sUAS) have gained widespread adoption across a diverse range of applications. This has introduced operational complexities within shared airspaces and an increase in reported incidents, raising safety…

It is well-known that a deep understanding of co-workers' behavior and preference is important for collaboration effectiveness. In this work, we present a method to accomplish smooth human-robot collaboration in close proximity by taking…

Unmanned Aerial Systems (UAS) have a wide variety of applications, and their development in terms of capabilities is continuously evolving. Many missions performed by an Unmanned Aerial Vehicle (UAV) require flying in public airspace. This…

This paper proposes a physics-inspired solution for low altitude Unmanned Aircraft System (UAS) Traffic Management (UTM) in urban areas. We decompose UTM into spatial and temporal planning problems. For the spatial planning problem, we use…

This paper proposes a path planning algorithm for multi-agent unmanned aircraft systems (UASs) to autonomously cover a search area, while considering obstacle avoidance, as well as the capabilities and energy consumption of the employed…

Unmanned Aerial Systems (UAS), an integral part of the Advanced Air Mobility (AAM) vision, are capable of performing a wide spectrum of tasks in urban environments. The societal integration of UAS is a pivotal challenge, as these systems…

Unmanned aerial vehicles (UAVs) suffer from sensor drifts in GPS denied environments, which can cause safety issues. To avoid intolerable sensor drifts while completing the time-critical coordination task for multi-UAV systems, we propose a…

Petri Nets is very interesting tool for studying and simulating different behaviors of information systems. It can be used in different applications based on the appropriate class of Petri Nets whereas it is classical, colored or timed…

Autonomous drone technology holds significant promise for enhancing search and rescue operations during evacuations by guiding humans toward safety and supporting broader emergency response efforts. However, their application in dynamic,…