45 citations · 102 across the 25 of their papers we have counts for
26 papers
Rethinking Legibility in Social Robot Hallway Navigation: Impact of Intent Representation and Human Distraction
Pranav Goyal, Andrew Stratton, Christoforos Mavrogiannis
We focus on legible robot motion generation in social navigation settings. Legibility in human-robot interaction (HRI) is often described as the property of robot motion that enabl…
MultiPush: Learning to Rearrange with Teams of Car-Like Pushers
Jeeho Ahn, Christoforos Mavrogiannis
We focus on the problem of rearranging multiple objects within a constrained workspace via pushing using a team of car-like robots. While the use of multiple robots offers the pote…
Learning from Humans for Proactive Assistance in Human-Robot Collaborative Transport
Elvin Yang, Christoforos Mavrogiannis
We focus on human-robot collaborative transport, a challenging task of broad relevance spanning logistics, manufacturing, and the home, in which a user and a robot work together to…
ACME: A Multi-Cultural, Multi-Embodiment Social-Navigation Dataset
Shashank Rao Marpally, Allan Wang, Atharva Ghotavadekar +35
Understanding how robots and humans move in shared spaces is essential for designing effective social robot navigation policies and predicting human behavior. However, existing dat…
Bi3: A Biplatform, Bicultural, Biperson Dataset for Social Robot Navigation
Andrew Stratton, Phani Teja Singamaneni, Pranav Goyal +2
We contribute Bi3, a dataset of social robot navigation among groups of people in a constrained lab space. Compared to prior data collection efforts for social robot navigation, ou…
ReloPush-BOSS: Optimization-guided Nonmonotone Rearrangement Planning for a Car-like Robot Pusher
Jeeho Ahn, Christoforos Mavrogiannis
We focus on multi-object rearrangement planning in densely cluttered environments using a car-like robot pusher. The combination of kinematic, geometric and physics constraints und…
How Human Motion Prediction Quality Shapes Social Robot Navigation Performance in Constrained Spaces
Andrew Stratton, Phani Teja Singamaneni, Pranav Goyal +2
Motivated by the vision of integrating mobile robots closer to humans in warehouses, hospitals, manufacturing plants, and the home, we focus on robot navigation in dynamic and spat…
Implicit Communication in Human-Robot Collaborative Transport
Elvin Yang, Christoforos Mavrogiannis
We focus on human-robot collaborative transport, in which a robot and a user collaboratively move an object to a goal pose. In the absence of explicit communication, this problem i…
ReloPush: Multi-object Rearrangement in Confined Spaces with a Nonholonomic Mobile Robot Pusher
Jeeho Ahn, Christoforos Mavrogiannis
We focus on push-based multi-object rearrangement planning using a nonholonomically constrained mobile robot. The simultaneous geometric, kinematic, and physics constraints make th…
ROB 204: Introduction to Human-Robot Systems at the University of Michigan, Ann Arbor
Leia Stirling, Joseph Montgomery, Mark Draelos +3
The University of Michigan Robotics program focuses on the study of embodied intelligence that must sense, reason, act, and work with people to improve quality of life and producti…
Characterizing the Complexity of Social Robot Navigation Scenarios
Andrew Stratton, Kris Hauser, Christoforos Mavrogiannis
Social robot navigation algorithms are often demonstrated in overly simplified scenarios, prohibiting the extraction of practical insights about their relevance to real-world domai…
Demonstrating HOUND: A Low-cost Research Platform for High-speed Off-road Underactuated Nonholonomic Driving
Sidharth Talia, Matt Schmittle, Alexander Lambert +3
Off-road autonomy, crucial for applications such as search-and-rescue, agriculture, and planetary exploration, poses unique problems due to challenging terrains, as well as due to…
Cook2LTL: Translating Cooking Recipes to LTL Formulae using Large Language Models
Angelos Mavrogiannis, Christoforos Mavrogiannis, Yiannis Aloimonos
Cooking recipes are challenging to translate to robot plans as they feature rich linguistic complexity, temporally-extended interconnected tasks, and an almost infinite space of po…
PuSHR: A Multirobot System for Nonprehensile Rearrangement
Sidharth Talia, Arnav Thareja, Christoforos Mavrogiannis +2
We focus on the problem of rearranging a set of objects with a team of car-like robot pushers built using off-the-shelf components. Maintaining control of pushed objects while avoi…
From Crowd Motion Prediction to Robot Navigation in Crowds
Sriyash Poddar, Christoforos Mavrogiannis, Siddhartha S. Srinivasa
We focus on robot navigation in crowded environments. To navigate safely and efficiently within crowds, robots need models for crowd motion prediction. Building such models is hard…
Electrostatic Brakes Enable Individual Joint Control of Underactuated, Highly Articulated Robots
Patrick Lancaster, Christoforos Mavrogiannis, Siddhartha Srinivasa +1
Highly articulated organisms serve as blueprints for incredibly dexterous mechanisms, but building similarly capable robotic counterparts has been hindered by the difficulties of d…
Optical Proximity Sensing for Pose Estimation During In-Hand Manipulation
Patrick Lancaster, Pratik Gyawali, Christoforos Mavrogiannis +2
During in-hand manipulation, robots must be able to continuously estimate the pose of the object in order to generate appropriate control actions. The performance of algorithms for…
Analyzing Multiagent Interactions in Traffic Scenes via Topological Braids
Christoforos Mavrogiannis, Jonathan DeCastro, Siddhartha S. Srinivasa
We focus on the problem of analyzing multiagent interactions in traffic domains. Understanding the space of behavior of real-world traffic may offer significant advantages for algo…
Winding Through: Crowd Navigation via Topological Invariance
Christoforos Mavrogiannis, Krishna Balasubramanian, Sriyash Poddar +2
We focus on robot navigation in crowded environments. The challenge of predicting the motion of a crowd around a robot makes it hard to ensure human safety and comfort. Recent appr…
Group-based Motion Prediction for Navigation in Crowded Environments
Allan Wang, Christoforos Mavrogiannis, Aaron Steinfeld
We focus on the problem of planning the motion of a robot in a dynamic multiagent environment such as a pedestrian scene. Enabling the robot to navigate safely and in a socially co…
Core Challenges of Social Robot Navigation: A Survey
Christoforos Mavrogiannis, Francesca Baldini, Allan Wang +4
Robot navigation in crowded public spaces is a complex task that requires addressing a variety of engineering and human factors challenges. These challenges have motivated a great…
Multimodal Trajectory Prediction via Topological Invariance for Navigation at Uncontrolled Intersections
Junha Roh, Christoforos Mavrogiannis, Rishabh Madan +2
We focus on decentralized navigation among multiple non-communicating rational agents at \emph{uncontrolled} intersections, i.e., street intersections without traffic signs or sign…
Telemanipulation with Chopsticks: Analyzing Human Factors in User Demonstrations
Liyiming Ke, Ajinkya Kamat, Jingqiang Wang +3
Chopsticks constitute a simple yet versatile tool that humans have used for thousands of years to perform a variety of challenging tasks ranging from food manipulation to surgery.…
Implicit Multiagent Coordination at Unsignalized Intersections via Multimodal Inference Enabled by Topological Braids
Christoforos Mavrogiannis, Jonathan A. DeCastro, Siddhartha S. Srinivasa
We focus on navigation among rational, non-communicating agents at unsignalized street intersections. Following collision-free motion under such settings demands nuanced implicit c…