Related papers: Technical Report: Reactive Planning for Mobile Man…

Precise and flexible cart-pushing is a challenging task for mobile robots. The motion constraints during cart-pushing and the robot's redundancy lead to complex motion planning problems, while variable payloads and disturbances present…

Rigid bodies, plastic impact, persistent contact, Coulomb friction, and massless limbs are ubiquitous simplifications introduced to reduce the complexity of mechanics models despite the obvious physical inaccuracies that each incurs…

State-of-the-art generalist manipulation policies have enabled the deployment of robotic manipulators in unstructured human environments. However, these frameworks struggle in cluttered environments primarily because they utilize auxiliary…

As legged robots take on roles in industrial and autonomous construction, collaborative loco-manipulation is crucial for handling large and heavy objects that exceed the capabilities of a single robot. However, ensuring the safety of these…

Given a demonstration of a complex manipulation task, such as pouring liquid from one container to another, we seek to generate a motion plan for a new task instance involving objects with different geometries. This is nontrivial since we…

Recent interest in mobile manipulation has resulted in a wide range of new robot designs. A large family of these designs focuses on modular platforms that combine existing mobile bases with static manipulator arms. They combine these…

Floating-base multi-link robots can change their shape during flight, making them well-suited for applications in confined environments such as autonomous inspection and search and rescue. However, trajectory planning for such systems…

Human-level autonomous driving is an ever-elusive goal, with planning and decision making -- the cognitive functions that determine driving behavior -- posing the greatest challenge. Despite a proliferation of promising approaches, progress…

We address the problem of motion planning for a robotic manipulator with the task to place a grasped object in a cluttered environment. In this task, we need to locate a collision-free pose for the object that a) facilitates the stable…

We want a multi-robot team to complete complex tasks in minimum time where the locations of task-relevant objects are not known. Effective task completion requires reasoning over long horizons about the likely locations of task-relevant…

We present a deep imitation learning framework for robotic bimanual manipulation in a continuous state-action space. A core challenge is to generalize the manipulation skills to objects in different locations. We hypothesize that modeling…

We investigate a variation of the art gallery problem in which a team of mobile guards tries to track an unpredictable intruder in a simply-connected polygonal environment. In this work, we use the deployment strategy for diagonal guards…

Multi-robot systems, particularly mobile manipulators, face challenges in control coordination and dynamic stability when working together. To address this issue, this study proposes MobiDock, a modular self-reconfigurable mobile…

Complex scheduling problems require a large amount computation power and innovative solution methods. The objective of this paper is the conception and implementation of a multi-agent system that is applicable in various problem domains.…

Rearrangement planning for object retrieval tasks from confined spaces is a challenging problem, primarily due to the lack of open space for robot motion and limited perception. Several traditional methods exist to solve object retrieval…

Assembly of large scale structural systems in space is understood as critical to serving applications that cannot be deployed from a single launch. Recent literature proposes the use of discrete modular structures for in-space assembly and…

In the pursuit of fully autonomous robotic systems capable of taking over tasks traditionally performed by humans, the complexity of open-world environments poses a considerable challenge. Addressing this imperative, this study contributes…

Enabling robots to autonomously perform hybrid motions in diverse environments can be beneficial for long-horizon tasks such as material handling, household chores, and work assistance. This requires extensive exploitation of intrinsic…

Hybrid automata are a natural framework for modeling and analyzing systems which exhibit a mixed discrete continuous behaviour. However, the standard operational semantics defined over such models implicitly assume perfect knowledge of the…

Modular manipulators composed of pre-manufactured and interchangeable modules offer high adaptability across diverse tasks. However, their deployment requires generating feasible motions while jointly optimizing morphology and mounted pose…