Related papers: Go Fetch: Mobile Manipulation in Unstructured Envi…
This paper addresses the problem of mobile grasping in dynamic, unknown environments where a robot must operate under a limited field-of-view. The fundamental challenge is the inherent trade-off between ``seeing'' around to reduce…
The FetchIt! Mobile Manipulation Challenge, held at the IEEE International Conference on Robots and Automation (ICRA) in May 2019, offered an environment with complex and integrated task sets, irregular objects, confined space, and…
This paper presents the behaviour control of a service robot for intelligent object search in a domestic environment. A major challenge in service robotics is to enable fetch-and-carry missions that are satisfying for the user in terms of…
Despite recent advancement in virtual reality technology, teleoperating a high DoF robot to complete dexterous tasks in cluttered scenes remains difficult. In this work, we propose a system that allows the user to teleoperate a Fetch robot…
Tasks in outdoor open world environments are now ripe for automation with mobile manipulators. The dynamic, unstructured and unknown environments associated with such tasks -- a prime example would be collecting roadside trash -- makes them…
Mapping is a time-consuming process for deploying robotic systems to new environments. The handling of maps is also risk-adverse when not managed effectively. We propose here, a standardised approach to handling such maps in a manner which…
Providing mobile robots with the ability to manipulate objects has, despite decades of research, remained a challenging problem. The problem is approachable in constrained environments where there is ample prior knowledge of the environment…
Mobile manipulators have the potential to revolutionize modern agriculture, logistics and manufacturing. In this work, we present the design of a ground-based mobile manipulator for automated structure assembly. The proposed system is…
Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…
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…
As robotic systems increasingly operate in unstructured, cluttered, and previously unseen environments, there is a growing need for manipulators that combine compliance, adaptability, and precise control. This work presents a real-time…
Complex manipulation tasks, such as rearrangement planning of numerous objects, are combinatorially hard problems. Existing algorithms either do not scale well or assume a great deal of prior knowledge about the environment, and few offer…
While both navigation and manipulation are challenging topics in isolation, many tasks require the ability to both navigate and manipulate in concert. To this end, we propose a mobile manipulation system that leverages novel navigation and…
Multi-robot teams have attracted attention from industry and academia for their ability to perform collaborative tasks in unstructured environments, such as wilderness rescue and collaborative transportation.In this paper, we propose a…
In response to the growing challenges of manual labor and efficiency in warehouse operations, Amazon has embarked on a significant transformation by incorporating robotics to assist with various tasks. While a substantial number of robots…
Mobile manipulators for indoor human environments can serve as versatile devices that perform a variety of tasks, yet adoption of this technology has been limited. Reducing size, weight, and cost could facilitate adoption, but risks…
In this paper we address mobile manipulation planning problems in the presence of sensing and environmental uncertainty. In particular, we consider mobile sensing manipulators operating in environments with unknown geometry and uncertain…
Deploying robots in open-ended unstructured environments such as homes has been a long-standing research problem. However, robots are often studied only in closed-off lab settings, and prior mobile manipulation work is restricted to…
Mobile manipulation robots are continuously advancing, with their grasping capabilities rapidly progressing. However, there are still significant gaps preventing state-of-the-art mobile manipulators from widespread real-world deployments,…
This thesis is concerned with deriving planning algorithms for robot manipulators. Manipulation has two effects, the robot has a physical effect on the object, and it also acquires information about the object. This thesis presents…