相关论文: HECTOR: Human-centric Hierarchical Coordination an…
Studies of human-robot interaction in dynamic and unstructured environments show that as more advanced robotic capabilities are deployed, the need for cooperative competencies to support collaboration with human problem-holders increases.…
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)…
Multi-agent systems can be extremely efficient when working concurrently and collaboratively, e.g., for delivery, surveillance, search and rescue. Coordination of such teams often involves two aspects: selecting appropriate subteams for…
Human-robot collaboration (HRC) in a shared workspace has become a common pattern in real-world robot applications and has garnered significant research interest. However, most existing studies for human-in-the-loop (HITL) collaboration…
In collaborative robotic applications, human and robot have to work together during a whole shift for executing a sequence of jobs. The performance of the human robot team can be enhanced by scheduling the right tasks to the human and the…
In this paper we propose FlexHRC+, a hierarchical human-robot cooperation architecture designed to provide collaborative robots with an extended degree of autonomy when supporting human operators in high-variability shop-floor tasks. The…
Despite their remarkable advancement in locomotion and manipulation, humanoid robots remain challenged by a lack of synchronized loco-manipulation control, hindering their full dynamic potential. In this work, we introduce a versatile and…
In collaborative robotic cells, a human operator and a robot share the workspace in order to execute a common job, consisting of a set of tasks. A proper allocation and scheduling of the tasks for the human and for the robot is crucial for…
This paper presents a comprehensive framework to enhance Human-Robot Collaboration (HRC) in real-world scenarios. It introduces a formalism to model articulated tasks, requiring cooperation between two agents, through a smaller set of…
Human robot collaboration (HRC) is becoming increasingly important as the paradigm of manufacturing is shifting from mass production to mass customization. The introduction of HRC can significantly improve the flexibility and intelligence…
The presence and coexistence of human operators and collaborative robots in shop-floor environments raises the need for assigning tasks to either operators or robots, or both. Depending on task characteristics, operator capabilities and the…
Technological progress increasingly envisions the use of robots interacting with people in everyday life. Human-robot collaboration (HRC) is the approach that explores the interaction between a human and a robot, during the completion of a…
Long-term monitoring of numerous dynamic targets can be tedious for a human operator and infeasible for a single robot, e.g., to monitor wild flocks, detect intruders, search and rescue. Fleets of autonomous robots can be effective by…
We claim that navigation in human environments can be viewed as cooperative activity especially in constrained situations. Humans concurrently aid and comply with each other while moving in a shared space. Cooperation helps pedestrians to…
With the introduction of collaborative robots, humans and robots can now work together in close proximity and share the same workspace. However, this collaboration presents various challenges that need to be addressed to ensure seamless…
Long-term Human-Robot Collaboration (HRC) is crucial for enabling flexible manufacturing systems and integrating companion robots into daily human environments over extended periods. This paper identifies several key challenges for such…
Collaborative robots are increasingly deployed alongside humans in factories, hospitals, schools, and other domains to enhance teamwork and efficiency. Systems that seamlessly integrate humans and robots into cohesive teams for coordinated…
Recently, many humanoid robots have been increasingly deployed in various facilities, including hospitals and assisted living environments, where they are often remotely controlled by human operators. Their kinematic redundancy enhances…
The remote human operator's user interface (UI) is an important link to make the robot an efficient extension of the operator's perception and action. In rescue applications, several studies have investigated the design of operator…
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,…