相关论文: Flying Together: Human-Guided Immersive Shared Con…

This paper focuses on developing new navigation and reconnaissance capabilities for cooperative unmanned systems in uncertain environments. The goal is to design a cooperative multi-vehicle system that can survey an unknown environment and…

Multi-robot systems are increasingly deployed in high-risk missions such as reconnaissance, disaster response, and subterranean operations. Protecting a human operator while navigating unknown and adversarial environments remains a critical…

In the rapidly evolving landscape of autonomous mobile robots, the emphasis on seamless human-robot interactions has shifted towards autonomous decision-making. This paper delves into the intricate challenges associated with robotic…

Shared autonomy provides an effective framework for human-robot collaboration that takes advantage of the complementary strengths of humans and robots to achieve common goals. Many existing approaches to shared autonomy make restrictive…

This paper develops a methodology for collaborative human-robot exploration that leverages implicit coordination. Most autonomous single- and multi-robot exploration systems require a remote operator to provide explicit guidance to the…

Humanoid robots offer significant advantages for search and rescue tasks, thanks to their capability to traverse rough terrains and perform transportation tasks. In this study, we present a task and motion planning framework for search and…

Quadruped platforms have become an active topic of research due to their high mobility and traversability in rough terrain. However, it is highly challenging to determine whether the clattered environment could be passed by the robot and…

This work presents a 3D multi-robot exploration framework for a team of UGVs moving on uneven terrains. The framework was designed by casting the two-level coordination strategy presented in [1] into the context of multi-robot exploration.…

Indoor motion planning focuses on solving the problem of navigating an agent through a cluttered environment. To date, quite a lot of work has been done in this field, but these methods often fail to find the optimal balance between…

Multi-robot planning and coordination in uncertain environments is a fundamental computational challenge, since the belief space increases exponentially with the number of robots. In this paper, we address the problem of planning in…

The problem of navigating a formation of interconnected tethered drones, named STEM (System of TEthered Multicopters), in an unknown environment is considered. The tethers feed electrical power from a ground station to the drones and also…

In shared autonomy, user input is combined with semi-autonomous control to achieve a common goal. The goal is often unknown ex-ante, so prior work enables agents to infer the goal from user input and assist with the task. Such methods tend…

Autonomous underwater robots are increasingly deployed for environmental monitoring, infrastructure inspection, subsea resource exploration, and long-horizon exploration. Yet, despite rapid advances in learning-based planning and control,…

Virtual reality (VR) interfaces for robots provide a three-dimensional (3D) view of the robot in its environment, which allows people to better plan complex robot movements in tight or cluttered spaces. In our prior work, we created a VR…

Shared autonomy is a promising paradigm in robotic systems, particularly within the maritime domain, where complex, high-risk, and uncertain environments necessitate effective human-robot collaboration. This paper investigates the…

Maximizing the utility of human-robot teams in disaster response and search and rescue (SAR) missions remains to be a challenging problem. This is due to the dynamic, uncertain nature of the environment and the variability in cognitive…

The growing spread of robots for service and industrial purposes calls for versatile, intuitive and portable interaction approaches. In particular, in industrial environments, operators should be able to interact with robots in a fast,…

This article aims to develop novel path planning algorithms required to deploy multiple unmanned vehicles in Global Positioning System (GPS) denied environments. Unmanned vehicles (ground or aerial) are ideal platforms for executing…

Heterogeneous multi-robot systems feature significant adaptability for complex environments. However, effective collaboration that fully exploits the robots' potential remains a core challenge. This paper proposes a decentralized…

Effective human-robot collaboration in open-world environments requires joint planning under uncertain conditions. However, existing approaches often treat humans as passive supervisors, preventing autonomous agents from becoming human-like…