Related papers: A Formal Framework for Robot Construction Problems…
Incorporating both flexible and rigid components in robot designs offers a unique solution to the limitations of traditional rigid robotics by enabling both compliance and strength. This paper explores the challenges and solutions for…
For robots to successfully execute tasks assigned to them, they must be capable of planning the right sequence of actions. These actions must be both optimal with respect to a specified objective and satisfy whatever constraints exist in…
The research and development of intelligent automation solutions is a ground-breaking point for the factory of the future. A promising and challenging mission is the use of autonomous robot systems to automate tasks in the field of…
While social robots are developed to provide assistance to users through social interactions, their behaviors are dominantly pre-programmed and remote-controlled. Despite the numerous robot control architectures being developed, very few…
Coordinating heterogeneous robot teams from free-form natural-language instructions is hard. Language-only planners struggle with long-horizon coordination and hallucination, while purely formal methods require closed-world models. We…
Robots are required to execute increasingly complex instructions in dynamic environments, which can lead to a disconnect between the user's intent and the robot's representation of the instructions. In this paper we present a natural…
Path planning in the multi-robot system refers to calculating a set of actions for each robot, which will move each robot to its goal without conflicting with other robots. Lately, the research topic has received significant attention for…
This paper presents a hierarchical framework to solve the multi-robot temporal task planning problem. We assume that each robot has its individual task specification and the robots have to jointly satisfy a global collaborative task…
Multi-robot motion planning for high degree-of-freedom manipulators in shared, constrained, and narrow spaces is a complex problem and essential for many scenarios such as construction, surgery, and more. Traditional coupled methods plan…
We present a framework for deformable object manipulation that interleaves planning and control, enabling complex manipulation tasks without relying on high-fidelity modeling or simulation. The key question we address is when should we use…
When modeling complex robot systems such as branched robots, whose kinematic structures are a tree, current techniques often require modeling the whole structure from scratch, even when partial models for the branches are available. This…
Collaborative robots (cobots) increasingly operate alongside humans, demanding robust real-time safeguarding. Current safety standards (e.g., ISO 10218, ANSI/RIA 15.06, ISO/TS 15066) require risk assessments but offer limited guidance for…
Modern cyber-physical systems (e.g., robotics systems) are typically composed of physical and software components, the characteristics of which are likely to change over time. Assumptions about parts of the system made at design time may…
Robots are becoming an increasingly common part of scientific work within laboratory environments. In this paper, we investigate the problem of designing \emph{schedules} for completing a set of tasks at fixed locations with multiple robots…
In this paper, we introduce a high-level controller synthesis framework that enables teams of heterogeneous agents to assist each other in resolving environmental conflicts that appear at runtime. This conflict resolution method is built…
Previous works on formally studying mobile robotic swarms consider necessary and sufficient system hypotheses enabling to solve theoretical benchmark problems (geometric pattern formation, gathering, scattering, etc.). We argue that formal…
A quadruped robot faces balancing challenges on a six-degrees-of-freedom moving platform, like subways, buses, airplanes, and yachts, due to independent platform motions and resultant diverse inertia forces on the robot. To alleviate these…
Effectively rearranging heterogeneous objects constitutes a high-utility skill that an intelligent robot should master. Whereas significant work has been devoted to the grasp synthesis of heterogeneous objects, little attention has been…
Object rearrangement is a fundamental sub-task in accomplishing a great many physical tasks. As such, effectively executing rearrangement is an important skill for intelligent robots to master. In this study, we conduct the first…
Continuum robots (CR) offer excellent dexterity and compliance in contrast to rigid-link robots, making them suitable for navigating through, and interacting with, confined environments. However, the study of path planning for CRs while…