Related papers: Fast Collision Checking: From Single Robots to Mul…
We consider the problem of multi-robot path planning in a complex, cluttered environment with the aim of reducing overall congestion in the environment, while avoiding any inter-robot communication or coordination. Such limitations may…
Precise calibration is the basis for the vision-guided robot system to achieve high-precision operations. Systems with multiple eyes (cameras) and multiple hands (robots) are particularly sensitive to calibration errors, such as…
This work is inspired by the problem of planning sequences of operations, as welding, in car manufacturing stations where multiple industrial robots cooperate. The goal is to minimize the station cycle time, \emph{i.e.} the time it takes…
We consider the setting where a team of robots is tasked with tracking multiple targets with the following property: approaching the targets enables more accurate target position estimation, but also increases the risk of sensor failures.…
Robotic assembly planning enables architects to explicitly account for the assembly process during the design phase, and enables efficient building methods that profit from the robots' different capabilities. Previous work has addressed…
We present new algorithms to perform fast probabilistic collision queries between convex as well as non-convex objects. Our approach is applicable to general shapes, where one or more objects are represented using Gaussian probability…
With 3D sensing becoming cheaper, environment-aware and visually-guided robot arms capable of safely working in collaboration with humans will become common. However, a reliable calibration is needed, both for camera internal calibration,…
This paper investigates the task coordination of multi-robot where each robot has a private individual temporal logic task specification; and also has to jointly satisfy a globally given collaborative temporal logic task specification. To…
With the ever growing number of space debris in orbit, the need to prevent further space population is becoming more and more apparent. Refueling, servicing, inspection and deorbiting of spacecraft are some example missions that require…
In swarm robotics, decentralized control is often proposed as a more scalable and fault-tolerant alternative to centralized control. However, centralized behaviors are often faster and more efficient than their decentralized counterparts.…
Robots exhibit a rich variety of symmetries arising from their mechanical structure and the properties of their tasks. Although many robotics problems exhibit several symmetries simultaneously, existing approaches typically treat them in…
In this report, we propose a decentralised motion control algorithm for the mobile robots to intercept an intruder entering (k-intercepting) or escaping (e-intercepting) a protected region. In continuation, we propose a decentralized…
The requirements of modern production systems together with more advanced robotic technologies have fostered the integration of teams comprising humans and autonomous robots. However, along with the potential benefits also comes the…
Parallel robots provide the potential to be leveraged for human-robot collaboration (HRC) due to low collision energies even at high speeds resulting from their reduced moving masses. However, the risk of unintended contact with the leg…
In robotics, it is common to check whether a given robot state results in self-intersection (i.e., a self-collision query) or to assess its distance from such an intersection (i.e., a self-proximity query). These checks are typically…
Task allocation plays a vital role in multi-robot autonomous cleaning systems, where multiple robots work together to clean a large area. However, most current studies mainly focus on deterministic, single-task allocation for cleaning…
Autonomous robots deployed in shared human environments, such as agricultural settings, require rigorous safety assurance to meet both functional reliability and regulatory compliance. These systems must operate in dynamic, unstructured…
A central challenge for multi-robot systems is fusing independently gathered perception data into a unified representation. Despite progress in Collaborative SLAM (C-SLAM), benchmarking remains hindered by the scarcity of dedicated…
Robots will increasingly operate near humans that introduce uncertainties in the motion planning problem due to their complex nature. Typically, chance constraints are introduced in the planner to optimize performance while guaranteeing…
A common approach to localize a mobile robot is by measuring distances to points of known positions, called anchors. Locating a device from distance measurements is typically posed as a non-convex optimization problem, stemming from the…