Related papers: Deterministic Pod Repositioning Problem in Robotic…
We consider the problem of coordinating a fleet of robots in a warehouse so as to maximize the reward achieved within a time limit while respecting problem and robot specific constraints. We formulate the problem as a weighted set packing…
Deep learning-based grasp prediction models have become an industry standard for robotic bin-picking systems. To maximize pick success, production environments are often equipped with several end-effector tools that can be swapped…
Object rearrangement is a fundamental problem in robotics with various practical applications ranging from managing warehouses to cleaning and organizing home kitchens. While existing research has primarily focused on single-agent…
It is often unnoticed that the predominant way to use collocation methods is fundamentally flawed when applied to optimal control in robotics. Such methods assume that the system dynamics is given by a first order ODE, whereas robots are…
We address the bin packing problem (BPP), which aims to maximize bin utilization when packing a variety of items. The offline problem, where the complete information about the item set and their sizes is known in advance, is proven to be…
We consider a mechanism design setting with a single item and a single buyer who is uncertain about the value of the item. Both the buyer and the seller have a common model for the buyer's value, but the buyer discovers her true value only…
Warehouses are nowadays the scene of complex logistic problems integrating different decision layers. This paper addresses the Joint Order Batching, Picker Routing and Sequencing Problem with Deadlines (JOBPRSP-D) in rectangular warehouses.…
We introduce a planner designed to guide robot manipulators in stably placing objects within intricate scenes. Our proposed method reverses the traditional approach to object placement: our planner selects contact points first and then…
We focus on the task of object manipulation to an arbitrary goal pose, in which a robot is supposed to pick an assigned object to place at the goal position with a specific orientation. However, limited by the execution space of the…
We give new approximation algorithms for the submodular joint replenishment problem and the inventory routing problem, using an iterative rounding approach. In both problems, we are given a set of $N$ items and a discrete time horizon of…
Efficient tabletop rearrangement planning seeks to find high-quality solutions while minimizing total cost. However, the task is challenging due to object dependencies and limited buffer space for temporary placements. The complexity…
Placement Optimization is an important problem in systems and chip design, which consists of mapping the nodes of a graph onto a limited set of resources to optimize for an objective, subject to constraints. In this paper, we start by…
Robotized warehouses are deployed to automatically distribute millions of items brought by the massive logistic orders from e-commerce. A key to automated item distribution is to plan paths for robots, also known as task planning, where…
A new model of causal failure is presented and used to solve a novel replica placement problem in data centers. The model describes dependencies among system components as a directed graph. A replica placement is defined as a subset of…
Motivated by issues dealing with delivery of emergency medical products during humanitarian disasters, this paper addresses the general problem of delivering perishable items to remote demands accessible only by helicopters or drones. Each…
We investigate a location-allocation-routing problem where trucks deliver goods from a central production facility to a set of warehouses with fixed locations and known demands. Due to limited capacities congestion occurs and results in…
In recent years, the throughput requirements of e-commerce fulfillment warehouses have seen a steep increase. This has resulted in various automation solutions being developed for item picking and movement. In this paper, we address the…
Providing robots with large-scale robot skin is a challenging goal, especially when considering surfaces characterized by different shapes and curvatures. The problem originates from technological advances in tactile sensing, and in…
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…
In this work, we investigate the problem of order batching and picker routing in warehouse storage areas. These problems are known to be capital and labour intensive, and often contribute to a sizable fraction of warehouse operating costs.…