Related papers: Abstractions for computing all robotic sensors tha…
Most existing motion planning algorithms assume that a map (of some quality) is fully determined prior to generating a motion plan. In many emerging applications of robotics, e.g., fast-moving agile aerial robots with constrained embedded…
Intelligent robots need to generate and execute plans. In order to deal with the complexity of real environments, planning makes some assumptions about the world. When executing plans, the assumptions are usually not met. Most works have…
Crafting automation systems tailored for specific domains requires aligning the space of human experts' semantics with the space of robot executable actions, and scheduling the required resources and system layout accordingly. Regrettably,…
Robotics has dramatically increased our ability to gather data about our environments, creating an opportunity for the robotics and algorithms communities to collaborate on novel solutions to environmental monitoring problems. To understand…
This paper explores general multi-robot task and motion planning, where multiple robots in close proximity manipulate objects while satisfying constraints and a given goal. In particular, we formulate the plan refinement problem--which,…
Abstraction is a commonly used process to represent some low-level system by a more coarse specification with the goal to omit unnecessary details while preserving important aspects. While recent work on abstraction in the situation…
Mapping and navigation have gone hand-in-hand since long before robots existed. Maps are a key form of communication, allowing someone who has never been somewhere to nonetheless navigate that area successfully. In the context of…
Reasoning requires going beyond pattern matching or memorization of solutions to identify and implement "algorithmic procedures" that can be used to deduce answers to hard problems. Doing so requires realizing the most relevant primitives,…
Robotic assembly planning enables architects to explicitly account for the assembly process during the design phase, and enables efficient building methods that profit from the robots' different capabilities. Previous work has addressed…
Autonomous robots have real-world applications in diverse fields, such as mobile manipulation and environmental exploration, and many such tasks benefit from a hands-off approach in terms of human user involvement over a long task horizon.…
Intelligent systems are increasingly part of our everyday lives and have been integrated seamlessly to the point where it is difficult to imagine a world without them. Physical manifestations of those systems on the other hand, in the form…
Sensor coverage is the critical multi-robot problem of maximizing the detection of events in an environment through the deployment of multiple robots. Large multi-robot systems are often composed of simple robots that are typically not…
Autonomous robotic inspection, where a robot moves through its environment and inspects points of interest, has applications in industrial settings, structural health monitoring, and medicine. Planning the paths for a robot to safely and…
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…
A wide range of human-robot collaborative applications in diverse domains such as manufacturing, health care, the entertainment industry, and social interactions, require an autonomous robot to follow its human companion. Different working…
We address problems underlying the algorithmic question of automating the co-design of robot hardware in tandem with its apposite software. Specifically, we consider the impact that degradations of a robot's sensor and actuation suites may…
Generalized planning is about finding plans that solve collections of planning instances, often infinite collections, rather than single instances. Recently it has been shown how to reduce the planning problem for generalized planning to…
Multi-objective search (MOS) has become essential in robotics, as real-world robotic systems need to simultaneously balance multiple, often conflicting objectives. Recent works explore complex interactions between objectives, leading to…
The objective of this paper is to distill the following essential idea from the RSS 2016 Workshop on Minimality and Design Automation and the RSS 2017 Workshop on Minimality and Trade-offs in Automated Robot Design: The information…
Whether explicit or implicit, sets are a critical part of many pieces of software. As a result, it is necessary to develop abstractions of sets for the purposes of abstract interpretation, model checking, and deductive verification.…