Related papers: A Formal Framework for Robot Construction Problems…
Floating-base multi-link robots can change their shape during flight, making them well-suited for applications in confined environments such as autonomous inspection and search and rescue. However, trajectory planning for such systems…
Autonomous assembly has been a desired functionality of many intelligent robot systems. We study a new challenging assembly task, designing and constructing a bridge without a blueprint. In this task, the robot needs to first design a…
This work addresses the coordination problem of multiple robots with the goal of finding specific hazardous targets in an unknown area and dealing with them cooperatively. The desired behaviour for the robotic system entails multiple…
This work presents a hybrid approach to solve the maximum stable set problem, using constraint and semidefinite programming. The approach consists of two steps: subproblem generation and subproblem solution. First we rank the variable…
An algorithm for robot formation path planning is presented in this paper. Given a map of the working environment, the algorithm finds a path for a formation taking into account possible split of the formation and its consecutive merge. The…
We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable…
This paper presents a comprehensive framework to enhance Human-Robot Collaboration (HRC) in real-world scenarios. It introduces a formalism to model articulated tasks, requiring cooperation between two agents, through a smaller set of…
Robot task planning is an important problem for autonomous robots in long-horizon challenging tasks. As large pre-trained models have demonstrated superior planning ability, recent research investigates utilizing large models to achieve…
In automated manufacturing, robots must reliably assemble parts of various geometries and low tolerances. Ideally, they plan the required motions autonomously. This poses a substantial challenge due to high-dimensional state spaces and…
Continuum robots, which often rely on interdisciplinary and multimedia collaborations, have been increasingly recognized for their potential to revolutionize the field of human-computer interaction (HCI) in varied applications due to their…
This paper proposes a framework for generating fast, smooth and predictable braking manoeuvers for a controlled robot. The proposed framework integrates two approaches to obtain feasible modal limits for designing braking trajectories. The…
As hardware and software systems have grown in complexity, formal methods have been indispensable tools for rigorously specifying acceptable behaviors, synthesizing programs to meet these specifications, and validating the correctness of…
This paper explores general multi-robot task and motion planning, where multiple robots in close proximity manipulate objects while satisfying constraints and a given goal. In particular, we formulate the plan refinement problem--which,…
Task allocation plays a vital role in multi-robot autonomous cleaning systems, where multiple robots work together to clean a large area. However, most current studies mainly focus on deterministic, single-task allocation for cleaning…
Formation control simplifies minimizing multi-robot cost functions by encoding a cost function as a shape the robots maintain. However, by reducing complex cost functions to formations, discrepancies arise between maintaining the shape and…
Long-term autonomy of robotic systems implicitly requires dependable platforms that are able to naturally handle hardware and software faults, problems in behaviors, or lack of knowledge. Model-based dependable platforms additionally…
Multi-mobile robot systems show great advantages over one single robot in many applications. However, the robots are required to form desired task-specified formations, making feasible motions decrease significantly. Thus, it is challenging…
Building structures can allow a robot to surmount large obstacles, expanding the set of areas it can reach. This paper presents a planning algorithm to automatically determine what structures a construction-capable robot must build in order…
Additive robotic construction of building-scale discrete bar structures, such as trusses and space frames, is increasingly attractive due to the potential improvements in efficiency, safety, and design possibilities. However, programming…
Modular and reconfigurable robotic systems have been designed to provide a customized solution for the non-repetitive tasks to be performed in a constrained environment. Customized solutions are normally extracted from task-based…