Related papers: Formal Design of Robot Integrated Task and Motion …
We consider the uncertain multi-robot motion planning (MRMP) problem with cooperative localization (CL-MRMP), under both motion and measurement noise, where each robot can act as a sensor for its nearby teammates. We formalize CL-MRMP as a…
Dynamic manipulation is a key capability for advancing robot performance, enabling skills such as tossing. While recent learning-based approaches have pushed the field forward, most methods still rely on manually designed action…
The general problem of planning feasible trajectories for multimodal robots is still an open challenge. This paper presents a whole-body trajectory optimisation approach that addresses this challenge by combining methods and tools developed…
When mobile robots maneuver near people, they run the risk of rudely blocking their paths; but not all people behave the same around robots. People that have not noticed the robot are the most difficult to predict. This paper investigates…
Computing globally optimal motion plans for a robot is challenging in part because it requires analyzing a robot's configuration space simultaneously from both a macroscopic viewpoint (i.e., considering paths in multiple homotopic classes)…
We address the problem of applying Task and Motion Planning (TAMP) in real world environments. TAMP combines symbolic and geometric reasoning to produce sequential manipulation plans, typically specified as joint-space trajectories, which…
Integrated task and motion planning (TAMP) is desirable for generalized autonomy robots but it is challenging at the same time. TAMP requires the planner to not only search in both the large symbolic task space and the high-dimension motion…
Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous,…
In this paper, we address the problem of time-optimal coordination of mobile robots under kinodynamic constraints along specified paths. We propose a novel approach based on time discretization that leads to a mixed-integer linear…
We address the problem of adapting robot trajectories to improve safety, comfort, and efficiency in human-robot collaborative tasks. To this end, we propose CoMOTO, a trajectory optimization framework that utilizes stochastic motion…
Trajectory planning in robotics aims to generate collision-free pose sequences that can be reliably executed. Recently, vision-to-planning systems have gained increasing attention for their efficiency and ability to interpret and adapt to…
To address the gaps between the static pre-set "thinking-planning-action" of humanoid robots in unfamiliar scenarios and the highly programmed "call tool-return result" due to the lack of autonomous coding capabilities, this work designs a…
Multi-mobile robot systems show great advantages over one single robot in many applications. However, the robots are required to form desired task-specified formations, making feasible motions decrease significantly. Thus, it is challenging…
Developing safe autonomous driving systems is a major scientific and technical challenge. Existing AI-based end-to-end solutions do not offer the necessary safety guarantees, while traditional systems engineering approaches are defeated by…
We propose a generic multi-robot planning mechanism that combines an optimal task planner and an optimal path planner to provide a scalable solution for complex multi-robot planning problems. The Integrated planner, through the interaction…
The paper presents a planner to generate walking trajectories by using the centroidal dynamics and the full kinematics of a humanoid robot. The interaction between the robot and the walking surface is modeled explicitly via new conditions,…
Classical manipulator motion planners work across different robot embodiments. However they plan on a pre-specified static environment representation, and are not scalable to unseen dynamic environments. Neural Motion Planners (NMPs) are an…
Integrating robotic systems in architectural and construction processes is of core interest to increase the efficiency of the building industry. Automated planning for such systems enables design analysis tools and facilitates faster design…
Both pedestrian and robot comfort are of the highest priority whenever a robot is placed in an environment containing human beings. In the case of pedestrian-unaware mobile robots this desire for safety leads to the freezing robot problem,…
Soft robots were introduced in large part to enable safe, adaptive interaction with the environment, and this interaction relies fundamentally on contact. However, modeling and planning contact-rich interactions for soft robots remain…