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The coordination of robot swarms - large decentralized teams of robots - generally relies on robust and efficient inter-robot communication. Maintaining communication between robots is particularly challenging in field deployments.…
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…
In human-robot collaboration, there has been a trade-off relationship between the speed of collaborative robots and the safety of human workers. In our previous paper, we introduced a time-optimal path tracking algorithm designed to…
With increasing numbers of mobile robots arriving in real-world applications, more robots coexist in the same space, interact, and possibly collaborate. Methods to provide such systems with system size scalability are known, for example,…
Shared-autonomy imitation learning lets a human correct a robot in real time, mitigating covariate-shift errors. Yet existing approaches ignore two critical factors: (i) the operator's cognitive load and (ii) the risk created by delayed or…
One way of ensuring operator's safety during human-robot collaboration is through Speed and Separation Monitoring (SSM), as defined in ISO standard ISO/TS 15066. In general, it is impossible to avoid all human-robot collisions: consider for…
In this study, we introduce an optimization framework aimed at enhancing the efficiency of motion priority design in scenarios involving automated and teleoperated robots within an industrial recovery context. The escalating utilization of…
In the pattern formation problem, robots in a system must self-coordinate to form a given pattern, regardless of translation, rotation, uniform-scaling, and/or reflection. In other words, a valid final configuration of the system is a…
Autonomous robots often encounter challenging situations where their control policies fail and an expert human operator must briefly intervene, e.g., through teleoperation. In settings where multiple robots act in separate environments, a…
We consider the problem of multi-robot path planning in a complex, cluttered environment with the aim of reducing overall congestion in the environment, while avoiding any inter-robot communication or coordination. Such limitations may…
The study of computing in presence of faulty robots in the Look-Compute-Move model has been the object of extensive investigation, typically with the goal of designing algorithms tolerant to as many faults as possible. In this paper, we…
Robot accidents are inevitable. Although rare, they have been happening since assembly-line robots were first introduced in the 1960s. But a new generation of social robots are now becoming commonplace. Often with sophisticated embedded…
This paper addresses the problem of selecting from a choice of possible grasps, so that impact forces will be minimised if a collision occurs while the robot is moving the grasped object along a post-grasp trajectory. Such considerations…
In order to ensure efficient flow of goods in an automated warehouse and to guarantee its continuous distribution to/from picking stations in an effective way, decisions about which goods will be delivered to which particular picking…
Consider a team of $k \leq n$ autonomous mobile robots initially placed at a node of an arbitrary graph $G$ with $n$ nodes. The dispersion problem asks for a distributed algorithm that allows the robots to reach a configuration in which…
Humans are remarkable at navigating and moving through dynamic and complex spaces, such as crowded streets. For robots to do the same, it is crucial that they are endowed with highly reactive obstacle avoidance robust to partial and poor…
So-called collaborative robots are a current trend in industrial robotics. However, they still face many problems in practical application such as reduced speed to ascertain their collaborativeness. The standards prescribe two regimes: (i)…
Human-robot interaction will play an essential role in various industries and daily tasks, enabling robots to effectively collaborate with humans and reduce their physical workload. Most of the existing approaches for physical human-robot…
A common task in robotics is unloading identical goods from a tray with rectangular grid structure. This naturally leads to the idea of programming the process at one grid position only and translating the motion to the other grid points,…
Characterizing the risk of operations is a fundamental requirement in robotics, and a crucial ingredient of safe planning. The problem is multifaceted, with multiple definitions arising in the vast recent literature fitting different…