The safety filter: A unified view of safety-critical control in autonomous systems
Recent years have seen significant progress in the realm of robot autonomy, accompanied
by the expanding reach of robotic technologies. However, the emergence of new …
by the expanding reach of robotic technologies. However, the emergence of new …
Human-robot teaming: grand challenges
Abstract Purpose of Review Current real-world interaction between humans and robots is
extremely limited. We present challenges that, if addressed, will enable humans and robots …
extremely limited. We present challenges that, if addressed, will enable humans and robots …
Safe planning in dynamic environments using conformal prediction
We propose a framework for planning in unknown dynamic environments with probabilistic
safety guarantees using conformal prediction. Particularly, we design a model predictive …
safety guarantees using conformal prediction. Particularly, we design a model predictive …
Adaptive conformal prediction for motion planning among dynamic agents
This paper proposes an algorithm for motion planning among dynamic agents using
adaptive conformal prediction. We consider a deterministic control system and use trajectory …
adaptive conformal prediction. We consider a deterministic control system and use trajectory …
Prediction-based path planning for safe and efficient human–robot collaboration in construction via deep reinforcement learning
Robotics has attracted broad attention as an emerging technology in construction to help
workers with repetitive, physically demanding, and dangerous tasks, thus improving …
workers with repetitive, physically demanding, and dangerous tasks, thus improving …
Real-time constraint-based planning and control of robotic manipulators for safe human–robot collaboration
A recent trend in industrial robotics is to have robotic manipulators working side-by-side with
human operators. A challenging aspect of this coexistence is that the robot is required to …
human operators. A challenging aspect of this coexistence is that the robot is required to …
Deep interactive motion prediction and planning: Playing games with motion prediction models
Abstract In most classical Autonomous Vehicle (AV) stacks, the prediction and planning
layers are separated, limiting the planner to react to predictions that are not informed by the …
layers are separated, limiting the planner to react to predictions that are not informed by the …
Formal synthesis of controllers for safety-critical autonomous systems: Developments and challenges
In recent years, formal methods have been extensively used in the design of autonomous
systems. By employing mathematically rigorous techniques, formal methods can provide …
systems. By employing mathematically rigorous techniques, formal methods can provide …
Aligning human and robot representations
To act in the world, robots rely on a representation of salient task aspects: for example, to
carry a coffee mug, a robot may consider movement efficiency or mug orientation in its …
carry a coffee mug, a robot may consider movement efficiency or mug orientation in its …
Aligning robot and human representations
To act in the world, robots rely on a representation of salient task aspects: for example, to
carry a coffee mug, a robot may consider movement efficiency or mug orientation in its …
carry a coffee mug, a robot may consider movement efficiency or mug orientation in its …