52 citations · 118 across the 23 of their papers we have counts for
23 papers
GUIDER: Evaluating Goal-Free Human Intent Inference for Teleoperated Manipulation on Real-Robot Data
Nicholas Kenny, Cesar Alan Contreras, Basile Ouedraogo +3
This paper presents an evaluation of a goal-free probabilistic framework for human intent inference during robotic manipulation. We deploy the Global User Intent Dual-phase Estimat…
Intent-Driven LLM Ensemble Planning for Flexible Multi-Robot Disassembly: Demonstration on EV Batteries
Cansu Erdogan, Cesar Alan Contreras, Alireza Rastegarpanah +2
This paper addresses the problem of planning complex manipulation tasks, in which multiple robots with different end-effectors and capabilities, informed by computer vision, must p…
First Responders' Perceptions of Semantic Information for Situational Awareness in Robot-Assisted Emergency Response
Tianshu Ruan, Zoe Betta, Georgios Tzoumas +2
This study investigates First Responders' (FRs) attitudes toward the use of semantic information and Situational Awareness (SA) in robotic systems during emergency operations. A st…
An Exploratory Study on Crack Detection in Concrete through Human-Robot Collaboration
Junyeon Kim, Tianshu Ruan, Cesar Alan Contreras +1
Structural inspection in nuclear facilities is vital for maintaining operational safety and integrity. Traditional methods of manual inspection pose significant challenges, includi…
Utilizing Vision-Language Models as Action Models for Intent Recognition and Assistance
Cesar Alan Contreras, Manolis Chiou, Alireza Rastegarpanah +2
Human-robot collaboration requires robots to quickly infer user intent, provide transparent reasoning, and assist users in achieving their goals. Our recent work introduced GUIDER,…
Probabilistic Human Intent Prediction for Mobile Manipulation: An Evaluation with Human-Inspired Constraints
Cesar Alan Contreras, Manolis Chiou, Alireza Rastegarpanah +2
Accurate inference of human intent enables human-robot collaboration without constraining human control or causing conflicts between humans and robots. We present GUIDER (Global Us…
An Exploratory Study on Human-Robot Interaction using Semantics-based Situational Awareness
Tianshu Ruan, Aniketh Ramesh, Rustam Stolkin +1
In this paper, we investigate the impact of high-level semantics (evaluation of the environment) on Human-Robot Teams (HRT) and Human-Robot Interaction (HRI) in the context of mobi…
A Framework for Semantics-based Situational Awareness during Mobile Robot Deployments
Tianshu Ruan, Aniketh Ramesh, Hao Wang +6
Deployment of robots into hazardous environments typically involves a ``Human-Robot Teaming'' (HRT) paradigm, in which a human supervisor interacts with a remotely operating robot…
The ATTUNE model for Artificial Trust Towards Human Operators
Giannis Petousakis, Angelo Cangelosi, Rustam Stolkin +1
This paper presents a novel method to quantify Trust in HRI. It proposes an HRI framework for estimating the Robot Trust towards the Human in the context of a narrow and specified…
A Mini-Review on Mobile Manipulators with Variable Autonomy
Cesar Alan Contreras, Alireza Rastegarpanah, Rustam Stolkin +1
This paper presents a mini-review of the current state of research in mobile manipulators with variable levels of autonomy, emphasizing their associated challenges and application…
Learning effects in variable autonomy human-robot systems: how much training is enough?
Manolis Chiou, Mohammed Talha, Rustam Stolkin
This paper investigates learning effects and human operator training practices in variable autonomy robotic systems. These factors are known to affect performance of a human-robot…
A Supervised Machine Learning Approach to Operator Intent Recognition for Teleoperated Mobile Robot Navigation
Evangelos Tsagkournis, Dimitris Panagopoulos, Giannis Petousakis +3
In applications that involve human-robot interaction (HRI), human-robot teaming (HRT), and cooperative human-machine systems, the inference of the human partner's intent is of crit…
Robot Health Indicator: A Visual Cue to Improve Level of Autonomy Switching Systems
Aniketh Ramesh, Madeleine Englund, Andreas Theodorou +2
Using different Levels of Autonomy (LoA), a human operator can vary the extent of control they have over a robot's actions. LoAs enable operators to mitigate a robot's performance…
A Hierarchical Variable Autonomy Mixed-Initiative Framework for Human-Robot Teaming in Mobile Robotics
Dimitris Panagopoulos, Giannis Petousakis, Aniketh Ramesh +4
This paper presents a Mixed-Initiative (MI) framework for addressing the problem of control authority transfer between a remote human operator and an AI agent when cooperatively co…
A Taxonomy of Semantic Information in Robot-Assisted Disaster Response
Tianshu Ruan, Hao Wang, Rustam Stolkin +1
This paper proposes a taxonomy of semantic information in robot-assisted disaster response. Robots are increasingly being used in hazardous environment industries and emergency res…
Robot Vitals and Robot Health: Towards Systematically Quantifying Runtime Performance Degradation in Robots Under Adverse Conditions
Aniketh Ramesh, Rustam Stolkin, Manolis Chiou
This paper addresses the problem of automatically detecting and quantifying performance degradation in remote mobile robots during task execution. A robot may encounter a variety o…
Robot-Assisted Nuclear Disaster Response: Report and Insights from a Field Exercise
Manolis Chiou, Georgios-Theofanis Epsimos, Grigoris Nikolaou +4
This paper reports on insights by robotics researchers that participated in a 5-day robot-assisted nuclear disaster response field exercise conducted by Kerntechnische Hilfdienst G…
Fessonia: a Method for Real-Time Estimation of Human Operator Workload Using Behavioural Entropy
Paraskevas Chatzithanos, Grigoris Nikolaou, Rustam Stolkin +1
This paper addresses the problem of the human operator cognitive workload estimation while controlling a robot. Being capable of assessing, in real-time, the operator's workload co…
A Bayesian-Based Approach to Human Operator Intent Recognition in Remote Mobile Robot Navigation
Dimitris Panagopoulos, Giannis Petousakis, Rustam Stolkin +2
This paper addresses the problem of human operator intent recognition during teleoperated robot navigation. In this context, recognition of the operator's intended navigational goa…
Human operator cognitive availability aware Mixed-Initiative control
Giannis Petousakis, Manolis Chiou, Grigoris Nikolaou +1
This paper presents a Cognitive Availability Aware Mixed-Initiative Controller for remotely operated mobile robots. The controller enables dynamic switching between different level…
Trust, Shared Understanding and Locus of Control in Mixed-Initiative Robotic Systems
Manolis Chiou, Faye McCabe, Markella Grigoriou +1
This paper investigates how trust, shared understanding between a human operator and a robot, and the Locus of Control (LoC) personality trait, evolve and affect Human-Robot Intera…
VFH+ based shared control for remotely operated mobile robots
Pantelis Pappas, Manolis Chiou, Georgios-Theofanis Epsimos +2
This paper addresses the problem of safe and efficient navigation in remotely controlled robots operating in hazardous and unstructured environments; or conducting other remote rob…
Mixed-Initiative variable autonomy for remotely operated mobile robots
Manolis Chiou, Nick Hawes, Rustam Stolkin
This paper presents an Expert-guided Mixed-Initiative Control Switcher (EMICS) for remotely operated mobile robots. The EMICS enables switching between different levels of autonomy…