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Teleoperation of heavy machinery in industry often requires operators to be in close proximity to the plant and issue commands on a per-actuator level using joystick input devices. However, this is non-intuitive and makes achieving desired…

We propose a new formulation for the multi-robot task planning and allocation problem that incorporates (a) precedence relationships between tasks; (b) coordination for tasks allowing multiple robots to achieve increased efficiency; and (c)…

Shared autonomy integrates user input with robot autonomy in order to control a robot and help the user to complete a task. Our work aims to improve the performance of such a human-robot team: the robot tries to guide the human towards an…

As robots become ubiquitous in the workforce, it is essential that human-robot collaboration be both intuitive and adaptive. A robot's quality improves based on its ability to explicitly reason about the time-varying (i.e. learning curves)…

Recent work has proposed artificial intelligence (AI) models that can learn to decide whether to make a prediction for an instance of a task or to delegate it to a human by considering both parties' capabilities. In simulations with…

Task allocation plays a vital role in multi-robot autonomous cleaning systems, where multiple robots work together to clean a large area. However, most current studies mainly focus on deterministic, single-task allocation for cleaning…

Enabling robots to work in close proximity to humans necessitates a control framework that does not only incorporate multi-sensory information for autonomous and coordinated interactions but also has perceptive task planning to ensure an…

In ad-hoc human-robot collaboration (HRC), humans and robots work on a task without pre-planning the robot's actions prior to execution; instead, task allocation occurs in real-time. However, prior research has largely focused on task…

The increasing presence of robots alongside humans, such as in human-robot teams in manufacturing, gives rise to research questions about the kind of behaviors people prefer in their robot counterparts. We term actions that support…

For decades, robotics researchers have pursued various tasks for multi-robot systems, from cooperative manipulation to search and rescue. These tasks are multi-robot extensions of classical robotic tasks and often optimized on dimensions…

One simplifying assumption in existing and well-performing task allocation methods is that the robots are single-tasking: each robot operates on a single task at any given time. While this assumption is harmless to make in some situations,…

This paper proposes a novel integrated dynamic method based on Behavior Trees for planning and allocating tasks in mixed human robot teams, suitable for manufacturing environments. The Behavior Tree formulation allows encoding a single job…

Wearable devices like exoskeletons are designed to reduce excessive loads on specific joints of the body. Specifically, single- or two-degrees-of-freedom (DOF) upper-body industrial exoskeletons typically focus on compensating for the…

The study of human-robot interaction is fundamental to the design and use of robotics in real-world applications. Robots will need to predict and adapt to the actions of human collaborators in order to achieve good performance and improve…

Human-robot co-carrying tasks reveal their potential in both industrial and everyday applications by leveraging the strengths of both parties. Effective control of robots in these tasks requires managing the energy level in the closed-loop…

Soft robotics holds transformative potential for enabling adaptive and adaptable systems in dynamic environments. However, the interplay between morphological and control complexities and their collective impact on task performance remains…

According to several empirical investigations, despite enhancing human capabilities, human-AI cooperation frequently falls short of expectations and fails to reach true synergy. We propose a task-driven framework that reverses prevalent…

Collaborative space robots are an emerging technology with high impact as robots facilitate servicing functions in collaboration with astronauts with higher precision during lengthy tasks, under tight operational schedules, with less risk…

Task allocation has been a well studied problem. In most prior problem formulations, it is assumed that each task is associated with a unique set of resource requirements. In the scope of multi-robot task allocation problem, these…

Since the recent Covid-19 pandemic, mobile manipulators and humanoid assistive robots with higher levels of autonomy have increasingly been adopted for patient care and living assistance. Despite advancements in autonomy, these robots often…