Meeting: September 27, 16:10–18:10 CEST (SEP 27, 10:10am-12:10 ET US) at HALL 4, gCON
Pre-recorded talks are available online; please see the below publication and talk list with video links.
The IROS 2021 conference is fully online as for the workshop. The presentation of each speakers will be available through the conference website. However, a live slot is planned on September 27, 16:10-18:10 (CEST) and can be joined through a link comminated by the conference.
The last 30 years have witnessed significant progress in Robot swarms and multi-robot systems (MRS). These systems incorporate multiple robots, possibly with diverse perceiving and executing capabilities, which are put together in collaborative settings to achieve a common goal. Swarm and MRS have been used to serve a variety of real-life applications such as victim rescue, reconnaissance, intelligence gathering, and multiple ground target tracking. These tasks cannot be executed by single-robot systems due to requirements for diverse specialization, spatial distribution, or temporal requirements imposing the need for parallelization. Despite the great potential and unique qualities these systems have, they lack human-like intelligence that enables them to work under full autonomy. As such, the human element must be involved due to its so far unmatched cognitive abilities which enable a human to ensure the alignment between system operations and mission objective, set priorities, detect failures, and intervene to fix errors. In the foreseeable future, when robot capabilities advance, it is expected that humans will still take part in these systems due to ethical and accountability considerations. However, due to the multi-agent characteristics bringing in accumulated uncertainty and increased complexity, it is challenging to establish effective collaboration between humans and robots.
First, a human has limited cognitive resources, making it difficult to simultaneously supervise multiple robots, respond to their requests, and identify their faults. Second, human users vary in their ability to assess team performance and detect behavior abnormality. In this workshop, the objective is to explore the cognitive and social aspects in human multi-robot system (MRS) interaction. Our intent is to take inspiration and learn from the broad base of researchers in the humans-robots collaboration scenarios.
Topics of Interest
This is a full day workshop, which will comprise a mixture of presentations covering a number of relevant topics including:
Trust measurement, modeling, and maintenance
Safety in MRS and human-swarm interaction
Distributed cognition (or distributed cognitive systems)
Human cognitive load measurement
Transparency and explanation in MRS
Modeling and analysis human-swarm interaction
Social acceptance, norms, and ethical issues in human environments
Cognitive control for heterogenous teaming.
Shared decision making in multi-robot multi-human interaction
Datasets and simulator kits
New applications related to intuitive human-MRS/swarm interaction
Self-learning and healing in human MRS/swarm interaction
Rui Liu, Ph.D. (firstname.lastname@example.org), Assistant Professor, Cognitive Robotics and AI (CRAI) lab, College of Aeronautics and Engineering (CAE), Kent State University, Ohio USA. https://ruiliurobotics.weebly.com/
Wenhao Luo, Ph.D., ( wenhao.Luo@uncc.edu), Assistant Professor, Department of Computer Science, the University of North Carolina at Charlotte, USA. https://www.andrew.cmu.edu/user/wenhaol/
Jianjun Meng, Ph.D., (email@example.com), Associate Professor, Institute of Robotics, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai China https://scholar.google.com/citations?user=Ahr8ZzsAAAAJ&hl=zh-CN
Changjoo Nam, Ph.D., (firstname.lastname@example.org), Assistant Professor, Dept. of Information and Communication Engineering, Inha University, Korea https://scholar.google.com/citations?user=H_2cbhsAAAAJ&hl=en
Aya Hussein, Ph.D., (email@example.com), Research Associate, School of Engineering & IT, University of New South Wales, Canberra, Australia https://scholar.google.com/citations?user=jeyuwyMAAAAJ&hl=en
Alyssa Pierson, Ph.D., (firstname.lastname@example.org), Assistant Professor, Mechanical Engineering Department, Boston University, Boston, USA https://alyssapierson.com/
Call for Contributions
We invite interested participants to submit short papers 1~4 pages and previously published papers for the contribution talks of 10 minutes. Please send your abstract to email@example.com relevant to interested topics. If you have any further questions, please feel free to contact the organizers via email.
Submission to Email: firstname.lastname@example.org
Call for Contents: Short abstract 1-4 pages; full-length paper 6 pages; previously-published papers are also encouraged to submit.
Format of submission: IEEE conference format
Workshop Day: September, 27th, 2021
The talks are however divided conveniently into sessions. In each session, invited speakers will give us vision and academic work introduction; then pre-recorded presentation videos will be displayed in each session; then questions and answering will be conducted in the end of each session.
The panel discussion will take place during the live session, in the time slot indicated above. We invite all attendees to attend and contribute their questions and perspectives!
|Welcome Sep 27, 16:10 CEST (10:10am US ET)||Organizers||Workshop introduction, highlight of research talks||Workshop Team|
|Invited Talks (16:10-17:30 CEST)||Rui, Changjoo|
|Katia Sycara||Can Emergent Behaviors be Taught? GNNs for more controllable swarms||[Talk Video]|
|Joseph Lyons||Great expectations?: Explanation in Human-Robot Interaction following violated expectations|
|Guangzhong Yang||Implicit Learning for Human Robot Interaction|
|Maria Gini||What would you do if you had 10 robots, 1,000 robots, or 10,000 robots?|
|Wei Dong||Agile Formation Control of Drone Flocking Enhanced with Active Vision-based Relative Localization|
|Sylvia Herbert||Using Models of Human Decision-Making for Autonomous Planning and Interaction|
|Michael Lewis||Cognitive Compliant Command for Multirobot Teams|
|Wilko Schwarting||Social Aspects for Interactions in Mixed Human-Robot Environments|
|Poster Session - Break Rooms (17:30-17:40 CEST)||Wenhao, Jianjun|
Ravi Tejwani, Yen-Ling Kuo, Tianmin Shu, Boris Katz, Andrei Barbu
|Towards Social Interactions as Recursive MDPs||[Talk Video] [PDF]|
Anusha Srikanthan, Siddharth Mayya, Harish Ravichandar, Vijay Kumar
|Resilient Coalition Formation in Heterogeneous Teams via Imitation Learning||[Talk Video] [PDF]|
Sha Yi, Wenhao Luo, Katia Sycara
|Distributed Topology Correction for Flexible Connectivity Maintenance in Multi-Robot Systems||[Talk Video] [PDF]|
|Kuanqi Cai, Weinan Chen, Chaoqun Wang, Shuang Song, and Max Q.-H. Meng||Human-aware Motion Planning with Improved Virtual Doppler Method in Highly Dynamic Environments||[Talk Video] [PDF]|
Tianqi Ma, Lin Zhang, Xiumin Diao
|Human Action Outcome Prediction using ConvGRU Approch for Fine-Grained Pitching Action||[Talk Video] [PDF]|
Qifei Yu, Zhexin Shen, Yijiang Pang,Ou Ma, Rui Liu
|Environment-Driven Multi UAV-UGV Teaming With Proficiency Constrained Multi-Agent Reinforcement Learning||[Talk Video] [PDF]|
Ruijiao Luo, Chao Huang, Yuntao Peng, Boyi Song, Rui Liu
|Correcting Robot Mistakes with Human-to-Robot Attention Transfer for Trust Repairing||[Talk Video] [PDF]|
Chao Huang, Wenhao Luo, Rui Liu
|Fast User Adaptation in Human-Supervisory Multi-Robot Deployments by Meta-Preference Learning||[Talk Video] [PDF]|
|Yijiang Pang, Chao Huang, Rui Liu||Synthesized Trust Learning for Human-Load-Reduced in Multi-Robot Deployments with Limited Human Feedback||[Talk Video] [PDF]|
|Aya Hussein||On the Role of Transparency in Human-Swarm Interaction||[Talk Video] [PDF]|
|Daseul Yang, Yu-Jung Chae, Doogon Kim, Yoonseob Lim, Dong Hwan Kim,
ChangHwan Kim, Sung-Kee Park, and Changjoo Nam
|Designing behaviors of social robots in privacy-sensitive situations||[Talk Video] [PDF]|
|Wonse Jo, Robert Wilson, Jaeeun Kim, Steve McGuire, Byung-Cheol Min||Toward a Wearable Biosensor Ecosystem on ROS 2 for Real-time Human-Robot Interaction Systems||[Talk Video] [PDF]|
|Panel Discussion Sep 27, 17:40–18:10 CEST||Organisers, all||Discussion, Concluding remarks||Alyssa, Aya, and Team|
|Towards Social Interactions as Recursive MDPs||Ravi Tejwani|
|Resilient Coalition Formation in Heterogeneous
Teams via Imitation Learning
|Distributed Topology Correction for Flexible Connectivity Maintenance in Multi-Robot Systems||Sha Yi|
|Human-aware Motion Planning with Improved
Virtual Doppler Method in Highly Dynamic
|Human Action Outcome Prediction using ConvGRU
Approch for Fine-Grained Pitching Action
|Environment-Driven Multi UAV-UGV Teaming With Proficiency
Constrained Multi-Agent Reinforcement Learning
|Correcting Robot Mistakes with Human-to-Robot Attention Transfer
for Trust Repairing
|Fast User Adaptation in Human-Supervisory Multi-Robot Deployments
by Meta-Preference Learning
|Synthesized Trust Learning for Human-Load-Reduced in Multi-Robot
Deployments with Limited Human Feedback
|On the Role of Transparency in Human-Swarm Interaction||Aya Hussein|
|Designing behaviors of social robots in privacy-sensitive situations||Changjoo Nam|
Support & Endorsement
We appreciate the strong support from
• IEEE RAS “Multi-Robot System” Technical Committee. Endorsement letter is attached.
• IEEE RAS “Cognitive Robotics” Technical Committee. Endorsement letter is attached.
We appreciate the funding sponsorship from two robotics companies “Clobot”(https://clobot.co.kr) and “ROAS” (https://roas.co.kr) in Korea.