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Multi-robot path finding in dynamic environments is a highly challenging classic problem. In the movement process, robots need to avoid collisions with other moving robots while minimizing their travel distance. Previous methods for this…
Rearrangement planning for object retrieval tasks from confined spaces is a challenging problem, primarily due to the lack of open space for robot motion and limited perception. Several traditional methods exist to solve object retrieval…
In the search and retrieval of multimedia objects, it is impractical to either manually or automatically extract the contents for indexing since most of the multimedia contents are not machine extractable, while manual extraction tends to…
Robotic pick and place stands at the heart of autonomous manipulation. When conducted in cluttered or complex environments robots must jointly reason about the selected grasp and desired placement locations to ensure success. While several…
In robotics, methods and softwares usually require optimizations of hyperparameters in order to be efficient for specific tasks, for instance industrial bin-picking from homogeneous heaps of different objects. We present a developmental…
The choice of a grasp plays a critical role in the success of downstream manipulation tasks. Consider a task of placing an object in a cluttered scene; the majority of possible grasps may not be suitable for the desired placement. In this…
This paper considers a problem of planning an attack in robotic football (RoboCup). The problem is reduced to finding a trajectory of the ball from its current position to the opponents goals. Heuristic search algorithm, i.e. A*, is used to…
Autonomous robotic grasping plays an important role in intelligent robotics. However, how to help the robot grasp specific objects in object stacking scenes is still an open problem, because there are two main challenges for autonomous…
We propose a novel method for multi-objective motion planning problems by leveraging the paradigm of lexicographic optimization and applying it for the first time to graph search over probabilistic roadmaps. The competing resources of…
Robotic grasping in densely cluttered environments is challenging due to scarce collision-free grasp affordances. Non-prehensile actions can increase feasible grasps in cluttered environments, but most research focuses on single-arm rather…
We initiate the study of a new problem on searching and fetching in a distributed environment concerning treasure-evacuation from a unit disk. A treasure and an exit are located at unknown positions on the perimeter of a disk and at known…
We present a research picking prototype related to our company's industrial waste sorting application. The goal of the prototype is to be as autonomous as possible and it both calibrates itself and improves its picking with minimal human…
Search algorithms are applied where data retrieval with specified specifications is required. The motivation behind developing search algorithms in Functional Object-Oriented Networks is that most of the time, a certain recipe needs to be…
Catching objects in flight (i.e., thrown objects) is a common daily skill for humans, yet it presents a significant challenge for robots. This task requires a robot with agile and accurate motion, a large spatial workspace, and the ability…
Manipulating objects to achieve desired goal states is a basic but important skill for dexterous manipulation. Human hand motions demonstrate proficient manipulation capability, providing valuable data for training robots with multi-finger…
Developing robot controllers capable of achieving dexterous nonprehensile manipulation, such as pushing an object on a table, is challenging. The underactuated and hybrid-dynamics nature of the problem, further complicated by the…
We consider a multidimensional search problem that is motivated by questions in contextual decision-making, such as dynamic pricing and personalized medicine. Nature selects a state from a $d$-dimensional unit ball and then generates a…
Multi-step forceful manipulation tasks, such as opening a push-and-twist childproof bottle, require a robot to make various planning choices that are substantially impacted by the requirement to exert force during the task. The robot must…
Many essential manipulation tasks - such as food preparation, surgery, and craftsmanship - remain intractable for autonomous robots. These tasks are characterized not only by contact-rich, force-sensitive dynamics, but also by their…
We consider the problem of grasping in clutter. While there have been motion planners developed to address this problem in recent years, these planners are mostly tailored for open-loop execution. Open-loop execution in this domain,…