Related papers: Algorithmic Approaches to Reconfigurable Assembly …
In this work, we present a systematic study of this trade-off from a deployment-centric perspective, focusing on an autonomous driving scenario. Instead of treating overlay and customized acceleration as isolated design points, we analyze…
Robots exhibit a rich variety of symmetries arising from their mechanical structure and the properties of their tasks. Although many robotics problems exhibit several symmetries simultaneously, existing approaches typically treat them in…
Software architecture related issues are important for robotic systems. Architecture centric development and evolution of software for robotic systems has been attracting researchers attention for more than two decades. The objective of…
Multi-robot assembly systems are becoming increasingly appealing in manufacturing due to their ability to automatically, flexibly, and quickly construct desired structural designs. However, effectively planning for these systems in a manner…
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,…
Motion planning is a difficult problem in robot control. The complexity of the problem is directly related to the dimension of the robot's configuration space. While in many theoretical calculations and practical applications the…
How can we build generalist robot systems? Scale may not be enough due to the significant multimodality of robotics tasks, lack of easily accessible data and the challenges of deploying on physical hardware. Meanwhile, most deployed robotic…
This paper presents a kinematic definition of a serialized Stewart platform designed for autonomous in-space assembly called an Assembler. The Assemblers architecture describes problems inherent to the inverse kinematics of over-actuated…
Control architectures and autonomy stacks for complex engineering systems are often divided into layers to decompose a complex problem and solution into distinct, manageable sub-problems. To simplify designs, uncertainties are often ignored…
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…
This paper presents a novel distributed robust optimization scheme for steering distributions of multi-agent systems under stochastic and deterministic uncertainty. Robust optimization is a subfield of optimization which aims to discover an…
The problem of Cloud resource provisioning for component-based applications consists in the allocation of virtual machines (VMs) offers from various Cloud Providers to a set of applications such that the constraints induced by the…
We use the reconfiguration framework to analyze problems that involve the rearrangement of items among groups. In various applications, a group of items could correspond to the files or jobs assigned to a particular machine, and the goal of…
Robot manipulation in cluttered environments often requires complex and sequential rearrangement of multiple objects in order to achieve the desired reconfiguration of the target objects. Due to the sophisticated physical interactions…
In collaborative robotic cells, a human operator and a robot share the workspace in order to execute a common job, consisting of a set of tasks. A proper allocation and scheduling of the tasks for the human and for the robot is crucial for…
This paper considers an optimization problem for a dynamical system whose evolution depends on a collection of binary decision variables. We develop scalable approximation algorithms with provable suboptimality bounds to provide…
Fabrication today relies on disparate, large machines spread across industrial facilities. These are operated by domain experts to construct and assemble artefacts in sequential steps from large numbers of parts. This traditional,…
Cloud Robotics is helping to create a new generation of robots that leverage the nearly unlimited resources of large data centers (i.e., the cloud), overcoming the limitations imposed by on-board resources. Different processing power,…
This paper investigates the use of a sampling-based approach, the RRT*, to reconfigure a 2D set of connected tiles in complex environments, where multiple obstacles might be present. Since the target application is automated building of…
Object rearrangement is a fundamental problem in robotics with various practical applications ranging from managing warehouses to cleaning and organizing home kitchens. While existing research has primarily focused on single-agent…