Purpose Shared autonomy has played a major role in assistive mobile robotics as it has the
potential to effectively balance user satisfaction and smooth functioning of systems by …

We consider shared autonomy systems where multiple operators (AI and human), can
interact with the environment, eg by controlling a robot. The decision problem for the shared …

We synthesize shared control protocols subject to probabilistic temporal logic specifications.
Specifically, we develop a framework in which a human and an autonomy protocol can issue …

In this paper, a hybrid shared controller is proposed for assisting human novice users to
emulate human expert users within a human-automation interaction framework. This work is …

Formal methods refer to rigorous, mathematical approaches to system development and
have played a key role in establishing the correctness of safety-critical systems. The main …

Shared autonomy systems allow robots to either operate autonomously or request
assistance from a human operator. In such settings, the human operator may exhibit sub …

Shared autonomy allows humans and AI operators to work towards a common goal.
Typically, shared autonomy systems are modelled by combining a single model for human …

Safety is a primary requirement for many autonomous systems, such as automated vehicles
and mobile robots. An open problem is how to assure safety, in the sense of avoiding unsafe …

This dissertation studies the applicability of convex optimization to the formal verification and
synthesis of systems that exhibit randomness or stochastic uncertainties. These systems can …