Related papers: A Constraint Programming Approach to Simultaneous …
Industrial robotic applications such as spraying, welding, and additive manufacturing frequently require fast, accurate, and uniform motion along a 3D spatial curve. To increase process throughput, some manufacturers propose a dual-robot…
Continuum robots, characterized by their high flexibility and infinite degrees of freedom (DoFs), have gained prominence in applications such as minimally invasive surgery and hazardous environment exploration. However, the intrinsic…
A fundamental challenge in multi-robot motion planning is achieving sufficient coordination to avoid inter-robot conflicts without incurring the large computational expense of searching the joint configuration space of the robot group. In…
Cutting and packing problems are present in many, at first glance unconnected, areas, therefore it's beneficial to have a good understanding of their underlying structure, to select proper techniques for finding solutions. Cutting and…
We present a novel method for global motion planning of robotic systems that interact with the environment through contacts. Our method directly handles the hybrid nature of such tasks using tools from convex optimization. We formulate the…
Robotic dexterous in-hand manipulation, where multiple fingers dynamically make and break contact, represents a step toward human-like dexterity in real-world robotic applications. Unlike learning-based approaches that rely on large-scale…
Many problems in operations research require that constraints be specified in the model. Determining the right constraints is a hard and laborsome task. We propose an approach to automate this process using artificial intelligence and…
Task and motion planning (TAMP) for multi-robot systems, which integrates discrete task planning with continuous motion planning, remains a challenging problem in robotics. Existing TAMP approaches often struggle to scale effectively for…
We consider here the MultiBot problem for the scheduling and the resource parametrization of jobs related to the production or the transportation of different products inside a given time horizon. Those jobs must meet known in advance…
Combining symbolic and geometric reasoning in multi-agent systems is a challenging task that involves planning, scheduling, and synchronization problems. Existing works overlooked the variability of task duration and geometric feasibility…
The deployment of mobile robots for material handling in industrial environments requires scalable coordination of large fleets in dynamic settings. This paper presents a two-layer framework that combines high-level scheduling with…
We present a centralized algorithmic framework for solving multi-robot path planning problems in general, two-dimensional, continuous environments while minimizing globally the task completion time. The framework obtains high levels of…
As one of the core parts of flexible manufacturing systems, material handling involves storage and transportation of materials between workstations with automated vehicles. The improvement in material handling can impulse the overall…
We propose an approach to find low-makespan solutions to multi-robot multi-task planning problems in environments where robots block each other from completing tasks simultaneously. We introduce a formulation of the problem that allows for…
In robotics, coordinating a group of robots is an essential task. This work presents the communication-constrained multi-agent multi-goal path planning problem and proposes a graph-search based algorithm to address this task. Given a fleet…
Industrial robots typically require very structured and predictable working environments, and explicit programming, in order to perform well. Therefore, expensive and time-consuming engineering work is a major obstruction when mediating…
In teleoperation, research has mainly focused on target approaching, where we deal with the more challenging object manipulation task by advancing the shared control technique. Appropriately manipulating an object is challenging due to the…
Many robots are not equipped with a manipulator and many objects are not suitable for prehensile manipulation (such as large boxes and cylinders). In these cases, pushing is a simple yet effective non-prehensile skill for robots to interact…
Manipulating deformable linear objects (DLOs) to achieve desired shapes in constrained environments with obstacles is a meaningful but challenging task. Global planning is necessary for such a highly-constrained task; however, accurate…
During the conceptual and prototype design stage of an industrial product, it is crucial to take assembly/disassembly and maintenance operations in advance. A well-designed system should enable relatively easy access of operating…