Related papers: Soft Subdivision Motion Planning for Complex Plana…

A large class of MDS linear codes is constructed. These codes are endowed with an efficient decoding algorithm. Both the definition of the codes and the design of their decoding algorithm only require from Linear Algebra methods, making…

When planning motions in a configuration space that has underlying symmetries (e.g. when manipulating one or multiple symmetric objects), the ideal planning algorithm should take advantage of those symmetries to produce shorter…

Soft robotics have gained increased attention from the robotic community due to their unique features such as compliance and human safety. Impressive amount of soft robotic prototypes have shown their superior performance over their rigid…

For multi-vehicle complex traffic scenarios in shared spaces such as intelligent intersections, safe coordination and trajectory planning is challenging due to computational complexity. To meet this challenge, we introduce a computationally…

Diffusion models have recently been successfully applied to a wide range of robotics applications for learning complex multi-modal behaviors from data. However, prior works have mostly been confined to single-robot and small-scale…

Collision-free motion generation in unknown environments is a core building block for robot manipulation. Generating such motions is challenging due to multiple objectives; not only should the solutions be optimal, the motion generator…

This paper introduces the notion of soft bits to address the rate-distortion optimization for learning-based image compression. Recent methods for such compression train an autoencoder end-to-end with an objective to strike a balance…

Plane arrangements are a useful tool for surface and volume modelling. However, their main drawback is poor scalability. We introduce two key novelties that enable the construction of plane arrangements for complex objects and entire…

We consider data-based predictive control based on behavioral systems theory. In the linear setting this means that a system is described as a subspace of trajectories, and predictive control can be formulated using a projection onto the…

We present a novel approach to perform probabilistic collision detection between a high-DOF robot and high-DOF obstacles in dynamic, uncertain environments. In dynamic environments with a high-DOF robot and moving obstacles, our approach…

In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…

This paper addresses non-prehensile rearrangement planning problems where a robot is tasked to rearrange objects among obstacles on a planar surface. We present an efficient planning algorithm that is designed to impose few assumptions on…

This paper focuses on the emerging paradigm shift of collision-inclusive motion planning and control for impact-resilient mobile robots, and develops a unified hierarchical framework for navigation in unknown and partially-observable…

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…

Objective: In this work we address limitations in state-of-the-art ultrasound robots by designing and integrating a novel soft robotic system for ultrasound imaging. It employs the inherent qualities of soft fluidic actuators to establish…

This paper addresses the problem of planning a safe (i.e., collision-free) trajectory from an initial state to a goal region when the obstacle space is a-priori unknown and is incrementally revealed online, e.g., through line-of-sight…

Applications of machine learning tools to problems of physical interest are often criticized for producing sensitivity at the expense of transparency. To address this concern, we explore a data planing procedure for identifying combinations…

Broadly intelligent agents should form task-specific abstractions that selectively expose the essential elements of a task, while abstracting away the complexity of the raw sensorimotor space. In this work, we present Neuro-Symbolic…

We study the problem of coordinating multiple robots along fixed geometric paths. Our contribution is threefold. First we formalize the intuitive concept of priorities as a binary relation induced by a feasible coordination solution,…

Some of the next generation massive spectroscopic survey projects, such as DESI and PFS, plan to use thousands of fiber positioner robots packed at a focal plane to quickly move in parallel the fiber-ends from the previous to the next…