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Navigating a collision-free and optimal trajectory for a robot is a challenging task, particularly in environments with moving obstacles such as humans. We formulate this problem as a stochastic optimal control problem. Since solving the…
The Industrial Assembly Challenge at the World Robot Summit was held in 2018 to showcase the state-of-the-art of autonomous manufacturing systems. The challenge included various tasks, such as bin picking, kitting, and assembly of standard…
For robotic systems to succeed in high risk, real-world situations, they have to be quickly deployable and robust to environmental changes, under-performing hardware, and mission subtask failures. These robots are often designed to consider…
In this work, we present a rigorous end-to-end control strategy for autonomous vehicles aimed at minimizing lap times in a time attack racing event. We also introduce AutoRACE Simulator developed as a part of this research project, which…
The objective of the first CARLA autonomous driving challenge was to deploy autonomous driving systems to lead with complex traffic scenarios where all participants faced the same challenging traffic situations. According to the organizers,…
The 3rd Japan Automotive AI Challenge was an international online autonomous racing challenge where 164 teams competed in December 2021. This paper outlines the winning strategy to this competition, and the advantages and challenges of…
Decisions in automated logistic systems can be improved based on knowledge of real-time state of individual parts and also environmental factors. These knowledge can be obtained through travel time of edges by individual robots which…
Robots are notoriously difficult to design because of complex interdependencies between their physical structure, sensory and motor layouts, and behavior. Despite this, almost every detail of every robot built to date has been manually…
Due to the highly complex environment present during the DARPA Subterranean Challenge, all six funded teams relied on legged robots as part of their robotic team. Their unique locomotion skills of being able to step over obstacles require…
In addition to its crucial impact on customer satisfaction, last-mile delivery (LMD) is notorious for being the most time-consuming and costly stage of the shipping process. Pressing environmental concerns combined with the recent surge of…
In this paper, we present an experiment, designed to investigate and evaluate the scalability and the robustness aspects of mobile manipulation. The experiment involves performing variations of mobile pick and place actions and…
Automation of logistic processes is essential to improve productivity and reduce costs. In this context, intelligent warehouses are becoming a key to logistic systems thanks to their ability of optimizing transportation tasks and,…
A common task in robotics is unloading identical goods from a tray with rectangular grid structure. This naturally leads to the idea of programming the process at one grid position only and translating the motion to the other grid points,…
In order to ensure efficient flow of goods in an automated warehouse and to guarantee its continuous distribution to/from picking stations in an effective way, decisions about which goods will be delivered to which particular picking…
Robots performing tasks in warehouses provide the first example of wide-spread adoption of autonomous vehicles in transportation and logistics. The efficiency of these operations, which can vary widely in practice, are a key factor in the…
The intricate and multi-stage task in dynamic public spaces like luggage trolley collection in airports presents both a promising opportunity and an ongoing challenge for automated service robots. Previous research has primarily focused on…
Open-domain social dialogue is one of the long-standing goals of Artificial Intelligence. This year, the Amazon Alexa Prize challenge was announced for the first time, where real customers get to rate systems developed by leading…
A basic task in the design of an industrial robot application is the relative placement of robot and workpiece. Process points are defined in Cartesian coordinates relative to the workpiece coordinate system, and the workpiece has to be…
We propose a versatile robotic system for kitting and assembly tasks which uses no jigs or commercial tool changers. Instead of specialized end effectors, it uses its two-finger grippers to grasp and hold tools to perform subtasks such as…
This paper describes the heuristics used by the Shadoks team for the CG:SHOP 2021 challenge. This year's problem is to coordinate the motion of multiple robots in order to reach their targets without collisions and minimizing the makespan.…