Related papers: On the Ergodicity of an Autonomous Robot for Effic…
This paper presents an approach for approximating the reachable space of robotic manipulators based on convex polytopes. The proposed approach predicts the reachable space over a given time horizon based on the robot's actuation limits and…
Autonomous exploration is a crucial aspect of robotics, enabling robots to explore unknown environments and generate maps without prior knowledge. This paper proposes a method to enhance exploration efficiency by integrating neural…
The need for efficient monitoring of spatio-temporal dynamics in large environmental applications, such as the water quality monitoring in rivers and lakes, motivates the use of robotic sensors in order to achieve sufficient spatial…
In order to solve complex, long-horizon tasks, intelligent robots need to carry out high-level, abstract planning and reasoning in conjunction with motion planning. However, abstract models are typically lossy and plans or policies computed…
This paper addresses the task allocation problem for multi-robot systems. The main issue with the task allocation problem is inherent complexity that makes finding an optimal solution within a reasonable time almost impossible. To hand the…
This paper presents a novel interaction planning method that exploits impedance tuning techniques in response to environmental uncertainties and unpredictable conditions using haptic information only. The proposed algorithm plans the…
Visual observation of objects is essential for many robotic applications, such as object reconstruction and manipulation, navigation, and scene understanding. Machine learning algorithms constitute the state-of-the-art in many fields but…
We consider the problem of completely covering an unknown discrete environment with a swarm of asynchronous, frequently-crashing autonomous mobile robots. We represent the environment by a discrete graph, and task the robots with occupying…
This paper presents a comprehensive methodology for modeling an on-orbit assembly mission scenario of a large flexible structure using a multi-arm robot. This methodology accounts for significant changes in inertia and flexibility…
Random constraint satisfaction problems can display a very rich structure in the space of solutions, with often an ergodicity breaking -- also known as clustering or dynamical -- transition preceding the satisfiability threshold when the…
In this paper, we present algorithms to identify environmental hotspots using mobile sensors. We examine two approaches: one involving a single robot and another using multiple robots coordinated through a decentralized robot system. We…
Designing robot morphologies and kinematics has traditionally relied on human intuition, with little systematic foundation. Motion-design co-optimization offers a promising path toward automation, but two major challenges remain: (i) the…
This paper concerns realizing highly efficient information-theoretic robot exploration with desired performance in complex scenes. We build a continuous lightweight inference model to predict the mutual information (MI) and the associated…
We study a generalized motion planning problem involving multiple autonomous robots navigating in a $d$-dimensional Euclidean space in the presence of a set of obstacles whose positions are unknown a priori. Each robot is required to visit…
While general object recognition is still far from being solved, this paper proposes a way for a robot to recognize every object at an almost human-level accuracy. Our key observation is that many robots will stay in a relatively closed…
Robust grasping is a major, and still unsolved, problem in robotics. Information about the 3D shape of an object can be obtained either from prior knowledge (e.g., accurate models of known objects or approximate models of familiar objects)…
This paper studies the gathering problem for a set of $N \ge 2$ autonomous mobile robots operating in the Euclidean plane under the distributed Look-Compute-Move model. We consider oblivious robots executing under the adversarial defected…
Robots sense, move and act in the physical world. It is therefore natural that algorithmic problems in robotics and automation have a geometric component, often central to the problem. Below we review ten challenging problems at the…
Multi-robot autonomous exploration in an unknown environment is an important application in robotics.Traditional exploration methods only use information around frontier points or viewpoints, ignoring spatial information of unknown areas.…
This paper introduces a new mobile sensor scheduling problem, involving a single robot tasked with monitoring several events of interest that occur at different locations. Of particular interest is the monitoring of transient events that…