相关论文: Beyond Omakase: Designing Shared Control for Navig…

Assistive technologies and in particular assistive robotic arms have the potential to enable people with motor impairments to live a self-determined life. More and more of these systems have become available for end users in recent years,…

Living a self-determined life independent of human caregivers or fully autonomous robots is a crucial factor for human dignity and the preservation of self-worth for people with motor impairments. Assistive robotic solutions - particularly…

Humans are well-adept at navigating public spaces shared with others, where current autonomous mobile robots still struggle: while safely and efficiently reaching their goals, humans communicate their intentions and conform to unwritten…

A significant problem in designing mobile robot control systems involves coping with the uncertainty that arises in moving about in an unknown or partially unknown environment and relying on noisy or ambiguous sensor data to acquire…

It is crucial for any assistive robot to prioritize the autonomy of the user. For a robot working in a task setting to effectively maintain a user's autonomy it must provide timely assistance and make accurate decisions. We use four…

Autonomous navigation in crowded spaces poses a challenge for mobile robots due to the highly dynamic, partially observable environment. Occlusions are highly prevalent in such settings due to a limited sensor field of view and obstructing…

This paper explores the principles for transforming a quadrupedal robot into a guide robot for individuals with visual impairments. A guide robot has great potential to resolve the limited availability of guide animals that are accessible…

As the number of Persons with Disabilities (PWD), particularly those with one or more physical impairments, increases, there is an increasing demand for assistive robotic technologies that can support independent mobility in the built…

Navigation is an essential ability for mobile agents to be completely autonomous and able to perform complex actions. However, the problem of navigation for agents with limited (or no) perception of the world, or devoid of a fully defined…

Human-aware robot navigation promises a range of applications in which mobile robots bring versatile assistance to people in common human environments. While prior research has mostly focused on modeling pedestrians as independent,…

Autonomous navigation is a long-standing field of robotics research, which provides an essential capability for mobile robots to execute a series of tasks on the same environments performed by human everyday. In this chapter, we present a…

High levels of robot autonomy are a common goal, but there is a significant risk that the greater the autonomy of the robot the lesser the autonomy of the human working with the robot. For vulnerable populations like older adults who…

A wide range of human-robot collaborative applications in diverse domains such as manufacturing, health care, the entertainment industry, and social interactions, require an autonomous robot to follow its human companion. Different working…

In shared control, advances in autonomous robotics are applied to help empower a human user in operating a robotic system. While these systems have been shown to improve efficiency and operation success, users are not always accepting of…

While autonomous multi-robots can achieve safe and coordinated navigation, they often struggle to adapt to unforeseen conditions and to capture operator-driven objectives in unstructured environments. We present a Virtual Reality (VR)-based…

Wheelchair-mounted robotic arms (and other assistive robots) should help their users perform everyday tasks. One way robots can provide this assistance is shared autonomy. Within shared autonomy, both the human and robot maintain control…

Blind people have limited opportunities to explore an environment based on their interests. While existing navigation systems could provide them with surrounding information while navigating, they have limited scalability as they require…

As robots have become increasingly common in human-rich environments, it is critical that they are able to exhibit social cues to be perceived as a cooperative and socially-conformant team member. We investigate the effect of robot gaze…

We consider the navigation of mobile robots in crowded environments, for which onboard sensing of the crowd is typically limited by occlusions. We address the problem of inferring the human occupancy in the space around the robot, in blind…

The rapid development of robotics has benefited by more and more people putting their attention to it. With the demand for robots is growing for the purpose of fulfilling tasks instead of humans, how to control the robot better is becoming…