Related papers: Efficiently Disassemble-and-Pack for Mechanism
We consider the problem of maintaining an approximate maximum independent set of geometric objects under insertions and deletions. We present data structures that maintain a constant-factor approximate maximum independent set for broad…
A very simple heuristic approach to the unfolding problem will be described. An iterative algorithm starts with an empty histogram and every iteration aims to add one entry to this histogram. The entry to be added is selected according to a…
Robotic pick and place stands at the heart of autonomous manipulation. When conducted in cluttered or complex environments robots must jointly reason about the selected grasp and desired placement locations to ensure success. While several…
Mechanical assemblies can exhibit complex relative motions, during which collisions between moving parts and their surroundings must be avoided. To define feasible design spaces for each part's shape, "maximal" collision-free pointsets can…
We present a mathematical and algorithmic scheme for learning the principal geometric elements in an image or 3D object. We build on recent work that convexifies the basic problem of finding a combination of a small number shapes that…
Efficient and safe retrieval of stacked objects in warehouse environments is a significant challenge due to complex spatial dependencies and structural inter-dependencies. Traditional vision-based methods excel at object localization but…
Automatic segmentation of objects from a single image is a challenging problem which generally requires training on large number of images. We consider the problem of automatically segmenting only the dynamic objects from a given pair of…
Modeling potential alloys requires the exploration of all possible configurations of atoms. Additionally, modeling the thermal properties of materials requires knowledge of the possible ways of displacing the atoms. One solution to finding…
Prehensile object rearrangement in cluttered and confined spaces has broad applications but is also challenging. For instance, rearranging products in a grocery shelf means that the robot cannot directly access all objects and has limited…
Order picking and order packing entail retrieving items from storage and packaging them according to customer requests. These activities have always been the main concerns of the companies in reducing warehouse management costs. This paper…
In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…
Recent progress in the field of robotic manipulation has generated interest in fully automatic object packing in warehouses. This paper proposes a formulation of the packing problem that is tailored to the automated warehousing domain.…
For robot manipulation, a complete and accurate object shape is desirable. Here, we present a method that combines visual and haptic reconstruction in a closed-loop pipeline. From an initial viewpoint, the object shape is reconstructed…
Algorithms for creating optimal configurations of warehouse threedimensional systems consisting of unified transport and warehouse modules are presented in the article. The constructions of these modules, and methods for constructing a…
Motion planning is a key tool that allows robots to navigate through an environment without collisions. The problem of robot motion planning has been studied in great detail over the last several decades, with researchers initially focusing…
This paper presents a distributed approach for exploring and triangulating an unknown region using a multi- robot system. The objective is to produce a covering of an unknown workspace by a fixed number of robots such that the covered…
This paper proposes a variational approach to describe the evolution of organization of complex systems from first principles, as increased efficiency of physical action. Most simply stated, physical action is the product of the energy and…
The pattern formation task is commonly seen in a multi-robot system. In this paper, we study the problem of forming complex shapes with functionally limited mobile robots, which have to rely on other robots to precisely locate themselves.…
The optimal control of a mechanical system is of crucial importance in many realms. Typical examples are the determination of a time-minimal path in vehicle dynamics, a minimal energy trajectory in space mission design, or optimal motion…
This paper deals with the problem of simulating dense dispersed systems composed by large numbers of particles undergoing ballistic aggregation. The most classical approaches for dealing with such problems are represented by the so-called…