相关论文: CoBOS: Constraint-Based Online Scheduler for Human…
Despite impressive advancements of industrial collaborative robots, their potential remains largely untapped due to the difficulty in balancing human safety and comfort with fast production constraints. To help address this challenge, we…
Combining symbolic and geometric reasoning in multi-agent systems is a challenging task that involves planning, scheduling, and synchronization problems. Existing works overlooked the variability of task duration and geometric feasibility…
The safe operation of an autonomous system is a complex endeavor, one pivotal element being its decision-making. Decision-making logic can formally be analyzed using model checking or other formal verification approaches. Yet, the…
This paper presents a multi-robot kinodynamic motion planner that enables a team of robots with different dynamics, actuation limits, and shapes to reach their goals in challenging environments. We solve this problem by combining…
Fleets of autonomous robots are increasingly deployed with multiple human operators in communication-restricted environments for exploration and intervention tasks such as subterranean inspection, reconnaissance, and search-and-rescue. In…
Real-time planning under uncertainty is critical for robots operating in complex dynamic environments. Consider, for example, an autonomous robot vehicle driving in dense, unregulated urban traffic of cars, motorcycles, buses, etc. The…
Collaborative robotics cells leverage heterogeneous agents to provide agile production solutions. Effective coordination is essential to prevent inefficiencies and risks for human operators working alongside robots. This paper proposes a…
We investigate the problem of multi-robot coordinated planning in environments where the robots may have to operate in close proximity to each other. We seek computationally efficient planners that ensure safe paths and adherence to…
Safe and efficient collaboration among multiple robots in unstructured environments is increasingly critical in the era of Industry 4.0. However, achieving robust and autonomous collaboration among humans and other robots requires modern…
Clustering bandits have gained significant attention in recommender systems by leveraging collaborative information from neighboring users to better capture target user preferences. However, these methods often lack a clear definition of…
In order to enable physical human-robot interaction where humans and (mobile) manipulators share their workspace and work together, robots have to be equipped with important capabilities to guarantee human safety. The robots have to…
CPSs are widely used in all sorts of applications ranging from industrial automation to search-and-rescue. So far, in these applications they work either isolated with a high mobility or operate in a static networks setup. If mobile CPSs…
This paper aims to develop distributed feedback control algorithms that allow cooperative locomotion of quadrupedal robots which are coupled to each other by holonomic constraints. These constraints can arise from collaborative manipulation…
The anticipation of human behavior is a crucial capability for robots to interact with humans safely and efficiently. We employ a smart edge sensor network to provide global observations, future predictions, and goal information to…
This paper addresses security challenges in multi-robot systems (MRS) where adversaries may compromise robot control, risking unauthorized access to forbidden areas. We propose a novel multi-robot optimal planning algorithm that integrates…
We present a framework for learning human user models from joint-action demonstrations that enables the robot to compute a robust policy for a collaborative task with a human. The learning takes place completely automatically, without any…
The growing use of service robots in dynamic environments requires flexible management of on-board compute resources to optimize the performance of diverse tasks such as navigation, localization, and perception. Current robot deployments…
Human-humanoid collaboration shows significant promise for applications in healthcare, domestic assistance, and manufacturing. While compliant robot-human collaboration has been extensively developed for robotic arms, enabling compliant…
Automated task planning algorithms have been developed to help robots complete complex tasks that require multiple actions. Most of those algorithms have been developed for "closed worlds" assuming complete world knowledge is provided.…
In this paper, a method for a cooperative trajectory planning between a human and an automation is extended by a behavioral model of the human. This model can characterize the stubbornness of the human, which measures how strong the human…