{"id":"https://openalex.org/W4382936000","doi":"https://doi.org/10.23919/acc55779.2023.10156494","title":"Safe Human-Robot Collaborative Transportation via Trust-Driven Role Adaptation","display_name":"Safe Human-Robot Collaborative Transportation via Trust-Driven Role Adaptation","publication_year":2023,"publication_date":"2023-05-31","ids":{"openalex":"https://openalex.org/W4382936000","doi":"https://doi.org/10.23919/acc55779.2023.10156494"},"language":"en","primary_location":{"id":"doi:10.23919/acc55779.2023.10156494","is_oa":false,"landing_page_url":"http://dx.doi.org/10.23919/acc55779.2023.10156494","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 American Control Conference (ACC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5061592297","display_name":"Tony Zheng","orcid":"https://orcid.org/0000-0002-7680-2152"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Tony Zheng","raw_affiliation_strings":["University of California,Department of Mechanical Engineering,Berkeley,CA,USA,94720"],"affiliations":[{"raw_affiliation_string":"University of California,Department of Mechanical Engineering,Berkeley,CA,USA,94720","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025118945","display_name":"Monimoy Bujarbaruah","orcid":"https://orcid.org/0000-0003-0639-1025"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Monimoy Bujarbaruah","raw_affiliation_strings":["University of California,Department of Mechanical Engineering,Berkeley,CA,USA,94720"],"affiliations":[{"raw_affiliation_string":"University of California,Department of Mechanical Engineering,Berkeley,CA,USA,94720","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008147427","display_name":"Yvonne R. St\u00fcrz","orcid":"https://orcid.org/0000-0001-5729-8491"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yvonne R. St\u00fcrz","raw_affiliation_strings":["University of California,Department of Mechanical Engineering,Berkeley,CA,USA,94720"],"affiliations":[{"raw_affiliation_string":"University of California,Department of Mechanical Engineering,Berkeley,CA,USA,94720","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025067440","display_name":"Francesco Borrelli","orcid":"https://orcid.org/0000-0001-8919-6430"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Francesco Borrelli","raw_affiliation_strings":["University of California,Department of Mechanical Engineering,Berkeley,CA,USA,94720"],"affiliations":[{"raw_affiliation_string":"University of California,Department of Mechanical Engineering,Berkeley,CA,USA,94720","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5061592297"],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":0.5644,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.65344429,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"22","last_page":"27"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10525","display_name":"Human-Automation Interaction and Safety","score":0.9957000017166138,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.9886000156402588,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7765723466873169},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6552802324295044},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6505268812179565},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5732113718986511},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.5658029913902283},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4951287806034088},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.46589720249176025},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.4404177963733673},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43806034326553345},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.43424761295318604},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4019308090209961},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3410855233669281},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22178229689598083}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7765723466873169},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6552802324295044},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6505268812179565},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5732113718986511},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.5658029913902283},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4951287806034088},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.46589720249176025},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.4404177963733673},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43806034326553345},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.43424761295318604},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4019308090209961},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3410855233669281},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22178229689598083},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc55779.2023.10156494","is_oa":false,"landing_page_url":"http://dx.doi.org/10.23919/acc55779.2023.10156494","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320332299","display_name":"National Institute of Food and Agriculture","ror":"https://ror.org/05qx3fv49"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1489427801","https://openalex.org/W1992461594","https://openalex.org/W2046365304","https://openalex.org/W2056429590","https://openalex.org/W2070935310","https://openalex.org/W2096787288","https://openalex.org/W2105925198","https://openalex.org/W2116113712","https://openalex.org/W2131998556","https://openalex.org/W2148722082","https://openalex.org/W2150768354","https://openalex.org/W2169513627","https://openalex.org/W2570636504","https://openalex.org/W2769520592","https://openalex.org/W2900845039","https://openalex.org/W2909143665","https://openalex.org/W2963731007","https://openalex.org/W2980511619","https://openalex.org/W4382936000","https://openalex.org/W6746419623"],"related_works":["https://openalex.org/W2794103424","https://openalex.org/W4245435724","https://openalex.org/W1996530509","https://openalex.org/W3028317537","https://openalex.org/W2389515972","https://openalex.org/W2055301889","https://openalex.org/W1505959757","https://openalex.org/W2376554934","https://openalex.org/W2281433634","https://openalex.org/W3009037905"],"abstract_inverted_index":{"We":[0],"study":[1],"a":[2,19,23,85,93,116,149,162,180,191],"human-robot":[3],"collaborative":[4],"transportation":[5],"task":[6,12],"in":[7,194],"presence":[8],"of":[9,38,51,71,119,142,154,165,186,237],"obstacles.":[10],"The":[11,54,111,198],"for":[13,87,148],"each":[14],"agent":[15],"is":[16],"to":[17,22,175,205,217,248],"carry":[18],"rigid":[20],"object":[21,90],"common":[24],"target":[25],"position,":[26],"while":[27,240],"safely":[28],"avoiding":[29],"obstacles":[30,207],"and":[31,35,43,123,189,213],"satisfying":[32],"the":[33,39,48,52,58,63,72,77,82,88,102,105,109,120,129,135,143,155,158,168,176,187,195,202,211,221,234,242,246],"compliance":[34],"actuation":[36],"constraints":[37],"other":[40],"agent.":[41],"Human":[42],"robot":[44,59,64,83,103,112,156,169,199],"do":[45],"not":[46],"share":[47],"local":[49],"view":[50],"environment.":[53],"human":[55,80,212,247],"either":[56],"assists":[57],"when":[60],"they":[61],"deem":[62],"actions":[65],"safe":[66,181],"based":[67,133],"on":[68,101,134,139],"their":[69],"perception":[70],"environment,":[73],"or":[74],"actively":[75],"leads":[76],"task.Using":[78],"estimated":[79],"inputs,":[81,127],"plans":[84],"trajectory":[86],"transported":[89],"by":[91,108,210,245],"solving":[92],"constrained":[94],"finite":[95],"time":[96],"optimal":[97],"control":[98],"problem.":[99],"Sensors":[100],"measure":[104],"inputs":[106],"applied":[107,122],"human.":[110],"then":[113],"appropriately":[114],"applies":[115],"weighted":[117],"combination":[118],"human\u2019s":[121,144,196,222],"its":[124,140,215],"own":[125],"planned":[126],"where":[128],"weights":[130],"are":[131],"chosen":[132],"robot\u2019s":[136],"trust":[137],"value":[138,164],"estimates":[141],"inputs.":[145],"This":[146],"allows":[147],"dynamic":[150],"leader-follower":[151],"role":[152],"adaptation":[153],"throughout":[157],"task.":[159],"Furthermore,":[160],"under":[161],"low":[163],"trust,":[166],"if":[167],"approaches":[170],"any":[171],"obstacle":[172],"potentially":[173],"unknown":[174],"human,":[177],"it":[178],"triggers":[179],"stopping":[182],"policy,":[183],"maintaining":[184],"safety":[185],"system":[188],"signaling":[190],"required":[192,244],"change":[193],"intent.":[197],"also":[200],"uses":[201],"sensor":[203],"feedback":[204],"infer":[206],"known":[208],"only":[209],"updates":[214],"planner":[216],"better":[218],"align":[219],"with":[220],"movements.":[223],"With":[224],"experimental":[225],"results,":[226],"we":[227],"demonstrate":[228],"that":[229],"our":[230],"proposed":[231],"approach":[232],"increases":[233],"success":[235],"rate":[236],"collision-free":[238],"trials":[239],"decreasing":[241],"effort":[243],"intervene.":[249]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2025-12-21T01:58:51.020947","created_date":"2025-10-10T00:00:00"}