Related papers: Stable bin packing of non-convex 3D objects with a…
The three-dimensional bin packing problem (3D-BPP) is a longstanding challenge in operations research and logistics. While classical heuristics and constructive methods can generate packings efficiently, they often fail to satisfy…
If we give a robot the task of moving an object from its current position to another location in an unknown environment, the robot must explore the map, identify all types of obstacles, and then determine the best route to complete the…
In this paper, we examine the problem of rearranging many objects on a tabletop in a cluttered setting using overhand grasps. Efficient solutions for the problem, which capture a common task that we solve on a daily basis, are essential in…
Many methods have been developed for planning the motion of robotic arms for picking and placing, ranging from local optimization to global search techniques, which are effective for sparsely placed objects. Dense clutter, however, still…
This paper investigates a critical resource allocation problem in the first party cloud: scheduling containers to machines. There are tens of services and each service runs a set of homogeneous containers with dynamic resource usage;…
Rearranging objects in cluttered tabletop environments remains a long-standing challenge in robotics. Classical planners often generate inefficient, high-cost plans by shuffling objects individually and using fixed buffers--temporary spaces…
Real-world object manipulation has been commonly challenged by physical uncertainties and perception limitations. Being an effective strategy, while caging configuration-based manipulation frameworks have successfully provided robust…
In this paper, we study the implementation of a model predictive controller (MPC) for the task of object manipulation in a highly uncertain environment (e.g., picking objects from a semi-flexible array of densely packed bins). As a…
The problem of packing a set of circles into the smallest surrounding container is considered. This problem arises in different application areas such as automobile, textile, food, and chemical industries. The so-called circle packing…
Flexible object manipulation of paper and cloth is a major research challenge in robot manipulation. Although there have been efforts to develop hardware that enables specific actions and to realize a single action of paper folding using…
Autonomous dual-arm manipulation is an essential skill to deploy robots in unstructured scenarios. However, this is a challenging undertaking, particularly in terms of perception and planning. Unstructured scenarios are full of objects with…
Bin picking systems in factory automation usually face robustness issues caused by sparse and noisy 3D data of metallic objects. Utilizing multiple views, especially with a one-shot 3D sensor and "sensor on hand" configuration is getting…
Municipal solid waste management is a major challenge for nowadays urban societies, because it accounts for a large proportion of public budget and, when mishandled, it can lead to environmental and social problems. This work focuses on the…
This paper studies the time-optimal path tracking problem for a team of cooperating robotic manipulators carrying an object. Considering the problem for rigidly grasped objects, we show that it can be cast as a convex optimization problem…
Solving storage problem: where objects must be accurately placed into containers with precise orientations and positions, presents a distinct challenge that extends beyond traditional rearrangement tasks. These challenges are primarily due…
Visual uncertainties such as occlusions, lack of texture, and noise present significant challenges in obtaining accurate kinematic models for safe robotic manipulation. We introduce a probabilistic real-time approach that leverages the…
Consider the problem of planning collision-free motion of $n$ objects in the plane movable through contact with a robot that can autonomously translate in the plane and that can move a maximum of $m \leq n$ objects simultaneously. This…
Complex manipulation tasks, such as rearrangement planning of numerous objects, are combinatorially hard problems. Existing algorithms either do not scale well or assume a great deal of prior knowledge about the environment, and few offer…
Human environments contain numerous objects configured in a variety of arrangements. Our goal is to enable robots to repose previously unseen objects according to learned semantic relationships in novel environments. We break this problem…
This paper introduces a new optimization model that integrates the multi-port stowage planning problem with the container relocation problem. This problem is formulated as a binary mathematical programming model that must find the…