Related papers: Technical Report: Sensor-Based Reactive Symbolic P…
This paper presents a novel planning method that achieves navigation of multi-robot formations in cluttered environments, while maintaining the formation throughout the robots motion. The method utilises a decentralised approach to find…
Robots-operating autonomous assembly applications in an unstructured environment require precise methods to locate the building components on site. However, the current available object detection systems are not well-optimised for…
Close and precise placement of irregularly shaped objects requires a skilled robotic system. The manipulation of objects that have sensitive top surfaces and a fixed set of neighbors is particularly challenging. To avoid damaging the…
Image editing approaches have become more powerful and flexible with the advent of powerful text-conditioned generative models. However, placing objects in an environment with a precise location and orientation still remains a challenge, as…
We develop an algorithm for the motion and task planning of a system comprised of multiple robots and unactuated objects under tasks expressed as Linear Temporal Logic (LTL) constraints. The robots and objects evolve subject to uncertain…
This work proposes a safety-critical local reactive controller that enables the robot to navigate in unknown and cluttered environments. In particular, the trajectory tracking task is formulated as a constrained polynomial optimization…
This article addresses the obstacle avoidance problem for setpoint stabilization and path-following tasks in complex dynamic 2D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and…
This paper addresses the problem of mobile grasping in dynamic, unknown environments where a robot must operate under a limited field-of-view. The fundamental challenge is the inherent trade-off between ``seeing'' around to reduce…
Object pose estimation is a crucial prerequisite for robots to perform autonomous manipulation in clutter. Real-world bin-picking settings such as warehouses present additional challenges, e.g., new objects are added constantly. Most of the…
This paper addresses the problem of cooperative transportation of an object rigidly grasped by N robotic agents. We propose a Nonlinear Model Predictive Control (NMPC) scheme that guarantees the navigation of the object to a desired pose in…
Robot motion planning involves computing a sequence of valid robot configurations that take the robot from its initial state to a goal state. Solving a motion planning problem optimally using analytical methods is proven to be PSPACE-Hard.…
As legged robots take on roles in industrial and autonomous construction, collaborative loco-manipulation is crucial for handling large and heavy objects that exceed the capabilities of a single robot. However, ensuring the safety of these…
To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…
Context plays a significant role in the generation of motion for dynamic agents in interactive environments. This work proposes a modular method that utilises a learned model of the environment for motion prediction. This modularity…
In automated manufacturing, robots must reliably assemble parts of various geometries and low tolerances. Ideally, they plan the required motions autonomously. This poses a substantial challenge due to high-dimensional state spaces and…
Despite recent progress improving the efficiency and quality of motion planning, planning collision-free and dynamically-feasible trajectories in partially-mapped environments remains challenging, since constantly replanning as unseen…
Object rearrangement is important for many applications but remains challenging, especially in confined spaces, such as shelves, where objects cannot be accessed from above and they block reachability to each other. Such constraints require…
To perform tasks well in a new domain, one must first know something about it. This paper reports on a robot controller for navigation through unfamiliar indoor worlds. Based on spatial affordances, it integrates planning with reactive…
Successful human-robot cooperation hinges on each agent's ability to process and exchange information about the shared environment and the task at hand. Human communication is primarily based on symbolic abstractions of object properties,…
We focus on the task of unknown object rearrangement, where a robot is supposed to re-configure the objects into a desired goal configuration specified by an RGB-D image. Recent works explore unknown object rearrangement systems by…