Related papers: Technical Report: Sensor-Based Reactive Symbolic P…

Accurate estimation of the environment structure simultaneously with the robot pose is a key capability of autonomous robotic vehicles. Classical simultaneous localization and mapping (SLAM) algorithms rely on the static world assumption to…

Complex and skillful motions in actual assembly process are challenging for the robot to generate with existing motion planning approaches, because some key poses during the human assembly can be too skillful for the robot to realize…

Mobile robots are often tasked with repeatedly navigating through an environment whose traversability changes over time. These changes may exhibit some hidden structure, which can be learned. Many studies consider reactive algorithms for…

This paper addresses the problem of cooperative transportation of an object rigidly grasped by $N$ robotic agents. In particular, we propose a Nonlinear Model Predictive Control (NMPC) scheme that guarantees the navigation of the object to…

What is a good visual representation for autonomous agents? We address this question in the context of semantic visual navigation, which is the problem of a robot finding its way through a complex environment to a target object, e.g. go to…

Motion planning under sensing uncertainty is critical for robots in unstructured environments to guarantee safety for both the robot and any nearby humans. Most work on planning under uncertainty does not scale to high-dimensional robots…

This work proposes a robot task planning framework for retrieving a target object in a confined workspace among multiple stacked objects that obstruct the target. The robot can use prehensile picking and in-workspace placing actions. The…

Human-robot collaboration requires the establishment of methods to guarantee the safety of participating operators. A necessary part of this process is ensuring reliable human pose estimation. Established vision-based modalities encounter…

To solve its task, a robot needs to have the ability to interpret its perceptions. In vision, this interpretation is particularly difficult and relies on the understanding of the structure of the scene, at least to the extent of its task…

This paper presents a novel method to generate spatial constraints for motion planning in dynamic environments. Motion planning methods for autonomous driving and mobile robots typically need to rely on the spatial constraints imposed by a…

Human-robot object handovers have been an actively studied area of robotics over the past decade; however, very few techniques and systems have addressed the challenge of handing over diverse objects with arbitrary appearance, size, shape,…

Planning dual-arm assembly of more than three objects is a challenging Task and Motion Planning (TAMP) problem. The assembly planner shall consider not only the pose constraints of objects and robots, but also the gravitational constraints…

In robots, nonprehensile manipulation operations such as pushing are a useful way of moving large, heavy or unwieldy objects, moving multiple objects at once, or reducing uncertainty in the location or pose of objects. In this study, we…

Shared autonomy provides an effective framework for human-robot collaboration that takes advantage of the complementary strengths of humans and robots to achieve common goals. Many existing approaches to shared autonomy make restrictive…

In this paper, we introduce a method to deal with the problem of robot local path planning among pushable objects -- an open problem in robotics. In particular, we achieve that by training multiple agents simultaneously in a physics-based…

When does a robot planner need a map? Reactive methods that use only the robot's current sensor data and local information are fast and flexible, but prone to getting stuck in local minima. Is there a middle-ground between fully reactive…

This work presents a decentralized motion planning framework for addressing the task of multi-robot navigation using deep reinforcement learning. A custom simulator was developed in order to experimentally investigate the navigation problem…

This paper presents a framework to navigate visually impaired people through unfamiliar environments by means of a mobile manipulator. The Human-Robot system consists of three key components: a mobile base, a robotic arm, and the human…

Service robots operating in cluttered human environments such as homes, offices, and schools cannot rely on predefined object arrangements and must continuously update their semantic and spatial estimates while dealing with possible…

Temporal logic task planning for robotic systems suffers from state explosion when specifications involve large numbers of discrete locations. We provide a novel approach, particularly suited for tasks specifications with universally…