相关论文: Legibot: Generating Legible Motions for Service Ro…

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…

Legibility of robot motion is critical in human-robot interaction, as it allows humans to quickly infer a robot's intended goal. Although traditional trajectory generation methods typically prioritize efficiency, they often fail to make the…

Humans have a remarkable ability to fluently engage in joint collision avoidance in crowded navigation tasks despite the complexities and uncertainties inherent in human behavior. Underlying these interactions is a mutual understanding that…

Intelligent robots and machines are becoming pervasive in human populated environments. A desirable capability of these agents is to respond to goal-oriented commands by autonomously constructing task plans. However, such autonomy can add…

Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…

In cooperative environments, such as in factories or assistive scenarios, it is important for a robot to communicate its intentions to observers, who could be either other humans or robots. A legible trajectory allows an observer to quickly…

Navigating safely in dynamic human environments is crucial for mobile service robots, and social navigation is a key aspect of this process. In this paper, we proposed an integrative approach that combines motion prediction and trajectory…

As social beings, much human behavior is predicated on social context - the ambient social state that includes cultural norms, social signals, individual preferences, etc. In this paper, we propose a socially-aware task and motion planning…

The environments in which the collaboration of a robot would be the most helpful to a person are frequently uncontrolled and cluttered with many objects present. Legible robot arm motion is crucial in tasks like these in order to avoid…

Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to…

Over the last decade, the use of robots in production and daily life has increased. With increasingly complex tasks and interaction in different environments including humans, robots are required a higher level of autonomy for efficient…

Designing robots capable of generating interpretable behavior is a prerequisite for achieving effective human-robot collaboration. This means that the robots need to be capable of generating behavior that aligns with human expectations and,…

Consider the problem of planning collision-free motion of $n$ objects in the plane movable through contact with a robot that can autonomously translate in the plane and that can move a maximum of $m \leq n$ objects simultaneously. This…

Human-robot teaming is one of the most important applications of artificial intelligence in the fast-growing field of robotics. For effective teaming, a robot must not only maintain a behavioral model of its human teammates to project the…

Contact-based decision and planning methods are becoming increasingly important to endow higher levels of autonomy for legged robots. Formal synthesis methods derived from symbolic systems have great potential for reasoning about high-level…

Robots are good at performing repetitive tasks in modern manufacturing industries. However, robot motions are mostly planned and preprogrammed with a notable lack of adaptivity to task changes. Even for slightly changed tasks, the whole…

Recent advancements in robotics have transformed industries such as manufacturing, logistics, surgery, and planetary exploration. A key challenge is developing efficient motion planning algorithms that allow robots to navigate complex…

As both legged robots and embedded compute have become more capable, researchers have started to focus on field deployment of these robots. Robust autonomy in unstructured environments requires perception of the world around the robot in…

Robots that share an environment with humans may communicate their intent using a variety of different channels. Movement is one of these channels and, particularly in manipulation tasks, intent communication via movement is called…

Achieving social acceptance is one of the main goals of Social Robotic Navigation. Despite this topic has received increasing interest in recent years, most of the research has focused on driving the robotic agent along obstacle-free…