相关论文: Wireless Human-Machine Collaboration in Industry 5…

The extreme requirements for high reliability and low latency in the upcoming Sixth Generation (6G) wireless networks are challenging the design of multi-hop wireless transport networks. Inspired by the advent of the virtualization concept…

As compared to typical mobile manipulation tasks, sequential mobile manipulation poses a unique challenge -- as the robot operates over extended periods, successful task completion is not solely dependent on consistent motion generation but…

In the field of Human-Robot Interaction (HRI), many researchers study shared control systems. Shared control is when a person and agent both contribute to the performance of a task in a collaborative way, often by providing control inputs…

Many tasks performed by two humans require mutual interaction between arms such as handing-over tools and objects. In order for a robotic arm to interact with a human in the same way, it must reason about the location of the human arm in…

This work developed collaborative bimanual manipulation for reliable and safe human-robot collaboration, which allows remote and local human operators to work interactively for bimanual tasks. We proposed an optimal motion adaptation to…

An important factor in developing control models for human-robot collaboration is how acceptable they are to their human partners. One such method for creating acceptable control models is to attempt to mimic human-like behaviour in robots…

In many human-in-the-loop robotic applications such as robot-assisted surgery and remote teleoperation, predicting the intended motion of the human operator may be useful for successful implementation of shared control, guidance virtual…

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…

To understand and collaborate with humans, robots must account for individual human traits, habits, and activities over time. However, most robotic assistants lack these abilities, as they primarily focus on predefined tasks in structured…

Rigid-formation navigation of multiple robots is essential for applications such as cooperative transportation. This process involves a team of collaborative robots maintaining a predefined geometric configuration, such as a square, while…

A fundamental challenge in wireless multicast has been how to simultaneously achieve high-throughput and low-delay for reliably serving a large number of users. In this paper, we show how to harness substantial throughput and delay gains by…

The Human-Autonomy Teaming paradigm (HAT) has recently emerged to model and design hybrid teams, where a human operator must cooperate with an artificial agent, able to independently evolve in dynamic and uncertain situations. An important…

We present a novel approach to shared control of human-machine systems. Our method assumes no a priori knowledge of the system dynamics. Instead, we learn both the dynamics and information about the user's interaction from observation…

Reachability analysis is a widely used method to analyze the safety of a Human-in-the-Loop Cyber Physical System (HiLCPS). This strategy allows the HiLCPS to respond against an imminent threat in advance by predicting reachable states of…

The wireless communication technologies have fundamentally revolutionized industrial operations. The operation of the automated equipment is conducted in a closed-loop manner, where the status of devices is collected and sent to the control…

Epidemics-inspired techniques have received huge attention in recent years from the distributed systems and networking communities. These algorithms and protocols rely on probabilistic message replication and redundancy to ensure reliable…

We present a novel haptic teleoperation approach that considers not only the safety but also the stability of a teleoperation system. Specifically, we build upon previous work on haptic shared control, which uses control barrier functions…

We propose a control framework which can utilize tactile information by exploiting the complementarity structure of contact dynamics. Since many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking…

Human behavior drives a range of complex social, urban, and economic systems, yet understanding its structure and dynamics at the individual level remains an open question. From credit card transactions to communications data, human…

Mobility management is a major challenge for the wide-spread deployment of millimeter-wave (mmWave) cellular networks. In particular, directional beamforming in mmWave devices renders high-speed mobility support very complex. This…