11 accepted papers
This document presents the outcomes of the Dagstuhl Seminar "Roadmap for Responsible Robotics," held in September 2023 at the Leibniz Centre for Informatics, Schloss Dagstuhl, Germany. The seminar brought together researchers from Robotics, Computer Science, Social and Cognitive Sciences, and Philos…
In Human-Robot Interaction research, assessing how humans understand the robots they interact with is crucial, particularly when studying the impact of explainability and transparency. Some studies evaluate objective understanding by analysing the accuracy of users' mental models, while others rely …
In Human-Robot Interaction research, assessing how humans understand the robots they interact with is crucial, particularly when studying the impact of explainability and transparency. Some studies evaluate <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xl
Robot swarms have the potential to help groups of people with social tasks, given their ability to scale to large numbers of robots and users. Developing multi-human-swarm interaction is therefore crucial to support multiple people interacting with the swarm simultaneously - which is an area that is
This work deals with a practical everyday problem: stable object placement on flat surfaces starting from unknown initial poses. Common object-placing approaches require either complete scene specifications or extrinsic sensor measurements, e.g., cameras, that occasionally suffer from occlusions. We…
We present a holistic grasping controller, combining free-space position control and in-contact force-control for reliable grasping given uncertain object pose estimates. Employing tactile fingertip sensors, undesired object displacement during grasping is minimized by pausing the finger closing mot…
Integrating real-time, complex social signal processing into robotic systems – especially in real-world, multi-party interaction situations – is a challenge faced by many in the Human-Robot Interaction (HRI) community. The difficulty is compounded by the lack of any standard model for human represen…
Reasoning about spatial and geometric relations between objects in a tabletop human-robot interaction is a challenge due to the perception not being always consistent: objects placed on a table seem to be slightly in the air; they overlap; they disappear due to occlusions. Yet, interpreting and anch…
We introduce UNDERWORLDS, a novel lightweight framework for cascading spatio-temporal situation assessment in robotics. UNDERWORLDS allows programmers to represent the robot's environment as real-time distributed data structures, containing both scene graphs (for representation of 3D geometries) and…
Building over algorithms previously developed for digital pens, this article introduces a novel 2D localization technique for mobile robots, based on simple printed patterns. This method combines high absolute accuracy (below 0.3mm), unlimited scalability, low computational requirements (the present
Presented is PYROBOTS, a new open-source software toolkit for the executive control of complex robotic systems. Borrowing ideas from previous tools like URBI [1], it proposes a lightweight Python framework to develop (preemptive) concurrent and event-based executive controllers. Designed in a bottom…