相关论文: A General Safety Framework for Autonomous Manipula…
In the context of Human-Robot Collaboration (HRC), it is crucial that the two actors are able to communicate with each other in a natural and efficient manner. The absence of a communication interface is often a cause of undesired…
Traditional reachability methods provide formal guarantees of safety under bounded disturbances. However, they strictly enforce state constraints as inviolable, which can result in overly conservative or infeasible solutions in complex…
Safety is an important topic in autonomous driving since any collision may cause serious injury to people and damage to property. Hamilton-Jacobi (HJ) Reachability is a formal method that verifies safety in multi-agent interaction and…
Socially aware robot navigation is a planning paradigm where the robot navigates in human environments and tries to adhere to social constraints while interacting with the humans in the scene. These navigation strategies were further…
As robots get more integrated into human environments, fostering trustworthiness in embodied robotic agents becomes paramount for an effective and safe human-robot interaction (HRI). To achieve that, HRI applications must promote human…
Autonomous navigation in maritime domains is accelerating alongside advances in artificial intelligence, sensing, and connectivity. Opaque decision-making and poorly calibrated human-automation interaction remain key barriers to safe…
Soft electronic skins are one of the means to turn an industrial manipulator into a collaborative robot. For manipulators that are already fit for physical human-robot collaboration, soft skins can make them safer. In this work, we study…
Safety in human-robot interaction can be divided into physical safety and perceived safety, where the latter is still under-addressed in the literature. Investigating perceived safety in human-robot interaction requires a multidisciplinary…
The successful implementation of Physical Human-Robot Interaction in industrial environments depends on ensuring safe collaboration between human operators and robotic devices. This necessitates the adoption of measures that guarantee the…
To reduce Operation and Maintenance (O&M) costs on offshore wind farms, wherein 80% of the O&M cost relates to deploying personnel, the offshore wind sector looks to Robotics and Artificial Intelligence (RAI) for solutions. Barriers to…
Human-robot interaction will play an essential role in various industries and daily tasks, enabling robots to effectively collaborate with humans and reduce their physical workload. Most of the existing approaches for physical human-robot…
We explore the probabilistic foundations of shared control in complex dynamic environments. In order to do this, we formulate shared control as a random process and describe the joint distribution that governs its behavior. For…
With recent advancements in AI and computation tools, intelligent paradigms emerged to empower different fields such as healthcare robots with new capabilities. Advanced AI robotic algorithms (e.g., reinforcement learning) can be trained…
The field of Human-Robot Collaboration (HRC) has seen a considerable amount of progress in recent years. Thanks in part to advances in control and perception algorithms, robots have started to work in increasingly unstructured environments,…
Establishing standardized metrics for Social Robot Navigation (SRN) algorithms for assessing the quality and social compliance of robot behavior around humans is essential for SRN research. Currently, commonly used evaluation metrics lack…
The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles and inter-agent collision. Building off our previously…
Human awareness in robot motion planning is crucial for seamless interaction with humans. Many existing techniques slow down, stop, or change the robot's trajectory locally to avoid collisions with humans. Although using the information on…
For some years now, the use of social, anthropomorphic robots in various situations has been on the rise. These are robots developed to interact with humans and are equipped with corresponding extremities. They already support human users…
When robots handle navigation tasks while avoiding collisions, they perform in crowded and complex environments not as good as in stable and homogeneous environments. This often results in a low success rate and poor efficiency. Therefore,…
Contact-rich manipulation is difficult for robots to execute and requires accurate perception of the environment. In some scenarios, vision is occluded. The robot can then no longer obtain real-time scene state information through visual…