Related papers: Moving robots efficiently using the combinatorics …
Given a graph $G$, a configuration space of $G$ can be thought of as the set of all possible configurations of "robots" which can move throughout $G$, subject to some constraints. We introduce a type of configuration space which we call…
This paper combines the fast Zero-Moment-Point (ZMP) approaches that work well in practice with the broader range of capabilities of a Trajectory Optimization formulation, by optimizing over body motion, footholds and Center of Pressure…
This paper investigates a constrained inverse kinematic (IK) problem that seeks a feasible configuration of an articulated robot under various constraints such as joint limits and obstacle collision avoidance. Due to the high-dimensionality…
Accurate and robust state estimation is critical for autonomous navigation of robot teams. This task is especially challenging for large groups of size, weight, and power (SWAP) constrained aerial robots operating in perceptually-degraded…
In the coordinated motion planning problem, we are given a graph together with the starting and destination vertices of $k$ robots. At each time step, any subset of robots may move, each traversing an edge of the graph, provided that no two…
This chapter is dedicated to the so-called cuspidal robots, i.e. those robots that can move from one inverse geometric solution to another without meeting a singular confuguration. This feature was discovered quite recently and has then…
CAT(0) metric spaces constitute a far-reaching common generalization of Euclidean and hyperbolic spaces and simple polygons: any two points x and y of a CAT(0) metric space are connected by a unique shortest path {\gamma}(x,y). In this…
Transporting objects using quadrotors with cables has been widely studied in the literature. However, most of those approaches assume that the cables are previously attached to the load by human intervention. In tasks where multiple objects…
Continuum robots are compact and flexible, making them suitable for use in the industries and in medical surgeries. Rapidly-exploring random trees (RRT) are a highly efficient path planning method, and its variant, S-RRT, can generate…
\textsc{Arbitrary Pattern Formation} is a fundamental problem in autonomous mobile robot systems. The problem asks to design a distributed algorithm that moves a team of autonomous, anonymous and identical mobile robots to form any…
This paper presents a method for planning a trajectory in workspace coordinates using a spatially fixed tool center point (TCP), while taking into account the processing path on a part. This approach is beneficial if it is easier to move…
High-speed motions in pick-and-place operations are critical to making robots cost-effective in many automation scenarios, from warehouses and manufacturing to hospitals and homes. However, motions can be too fast -- such as when the object…
This paper suggests an integrated navigation system for an unmanned ground vehicle operating in an unknown cluttered environment. The navigator supports time-critical mobility making it possible for a mobile robot to reach a target from the…
We propose distributed algorithms to automatically deploy a team of mobile robots to partition and provide coverage of a non-convex environment. To handle arbitrary non-convex environments, we represent them as graphs. Our partitioning and…
The \textsc{Mutual Visibility} is a well-known problem in the context of mobile robots. For a set of $n$ robots disposed in the Euclidean plane, it asks for moving the robots without collisions so as to achieve a placement ensuring that no…
While the collective motion of active particles has been studied extensively, effective strategies to navigate particle swarms without external guidance remain elusive. We introduce a method to control the trajectories of two-dimensional…
Fast robotics pick-and-place with suction cups is a crucial component in the current development of automation in logistics (factory lines, e-commerce, etc.). By "critically fast" we mean the fastest possible movement for transporting an…
This paper considers the problem of completing assemblies of passive objects in nonconvex environments, cluttered with convex obstacles of unknown position, shape and size that satisfy a specific separation assumption. A differential drive…
Many methods exist for a bipedal robot to keep its balance while walking. In addition to step size and timing, other strategies are possible that influence the stability of the robot without interfering with the target direction and speed…
This study presents a systematic enumeration of spherical ($SO(3)$) type parallel robots' variants using an analytical velocity-level approach. These robots are known for their ability to perform arbitrary rotations around a fixed point,…