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Deploying robots in open-ended unstructured environments such as homes has been a long-standing research problem. However, robots are often studied only in closed-off lab settings, and prior mobile manipulation work is restricted to…
Fine manipulation tasks, such as threading cable ties or slotting a battery, are notoriously difficult for robots because they require precision, careful coordination of contact forces, and closed-loop visual feedback. Performing these…
We present BulletArm, a novel benchmark and learning-environment for robotic manipulation. BulletArm is designed around two key principles: reproducibility and extensibility. We aim to encourage more direct comparisons between robotic…
We consider the problem of sorting a densely cluttered pile of unknown objects using a robot. This yet unsolved problem is relevant in the robotic waste sorting business. By extending previous active learning approaches to grasping, we show…
We consider metrical task systems on general metric spaces with $n$ points, and show that any fully randomized algorithm can be turned into a randomized algorithm that uses only $2\log n$ random bits, and achieves the same competitive ratio…
A robot modeled as a deterministic finite automaton has to build a structure from material available to it. The robot navigates in the infinite oriented grid $\mathbb{Z} \times \mathbb{Z}$. Some cells of the grid are full (contain a brick)…
Online decision-making can be formulated as the popular stochastic multi-armed bandit problem where a learner makes decisions (or takes actions) to maximize cumulative rewards collected from an unknown environment. This paper proposes to…
This paper presents the development of a fully autonomous delivery robot integrating mechanical engineering, embedded systems, and artificial intelligence. The platform employs a heterogeneous computing architecture, with RPi 5 and ROS 2…
The increasing presence of robots alongside humans, such as in human-robot teams in manufacturing, gives rise to research questions about the kind of behaviors people prefer in their robot counterparts. We term actions that support…
The design of mobile autonomous robots is challenging due to the limited on-board resources such as processing power and energy. A promising approach is to generate intelligent schedules that reduce the resource consumption while…
The DARPA Subterranean Challenge was designed for competitors to develop and deploy teams of autonomous robots to explore difficult unknown underground environments. Categorised in to human-made tunnels, underground urban infrastructure and…
We describe algorithmic results for two crucial aspects of allocating resources on computational hardware devices with partial reconfigurability. By using methods from the field of computational geometry, we derive a method that allows…
Automating design minimizes errors, accelerates the design process, and reduces cost. However, automating robot design is challenging due to recursive constraints, multiple design objectives, and cross-domain design complexity possibly…
Replicating and surpassing the autonomy of natural organisms remains a long-standing goal in robotics. Yet most robotic systems have their structure, materials, and control designed separately, in sharp contrast to the co-evolution in…
Recent advances in 3D printing and manufacturing of miniaturized robotic hardware and computing are paving the way to build inexpensive and disposable robots. This will have a large impact on several applications including scientific…
Since the inception of the FIRST Robotics Competition (FRC) and its special playoff system, robotics teams have longed to appropriately quantify the strengths of their designed robots. The FRC includes a playground draft-like phase…
The single, double, and triple pendulum has served as an illustrative experimental benchmark system for scientists to study dynamical behavior for more than four centuries. The pendulum system exhibits a wide range of interesting behaviors,…
Uncertainty in perception, actuation, and the environment often require multiple attempts for a robotic task to be successful. We study a class of problems providing (1) low-entropy indicators of terminal success / failure, and (2)…
This article presents the CERBERUS robotic system-of-systems, which won the DARPA Subterranean Challenge Final Event in 2021. The Subterranean Challenge was organized by DARPA with the vision to facilitate the novel technologies necessary…
When the human-robot interactions become ubiquitous, the environment surrounding these interactions will have significant impact on the safety and comfort of the human and the effectiveness and efficiency of the robot. Although most robots…