Related papers: Technical Report: Reactive Planning for Mobile Man…
We consider the problem of grasping in clutter. While there have been motion planners developed to address this problem in recent years, these planners are mostly tailored for open-loop execution. Open-loop execution in this domain,…
Object rearrangement has recently emerged as a key competency in robot manipulation, with practical solutions generally involving object detection, recognition, grasping and high-level planning. Goal-images describing a desired scene…
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,…
In many robotic tasks, agents must traverse a sequence of spatial regions to complete a mission. Such problems are inherently mixed discrete-continuous: a high-level action sequence and a physically feasible continuous trajectory. The…
We propose a real-time implementable motion planning framework for cooperative object transportation by nonholonomic mobile manipulator robots (MMRs) in dynamic environments. Our global planner finds a path from start to goal through the…
We present a robot base placement and control method that enables a mobile manipulator to gracefully recover from manipulation failures while performing tasks on-the-move. A mobile manipulator in motion has a limited window to complete a…
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…
Robotic manipulation research has investigated contact-rich problems and strategies that require robots to intentionally collide with their environment, to accomplish tasks that cannot be handled by traditional collision-free solutions. By…
An interactive robot framework accomplishes long-horizon task planning and can easily generalize to new goals and distinct tasks, even during execution. However, most traditional methods require predefined module design, making it hard to…
In this paper, we propose a whole-body planning framework that unifies dynamic locomotion and manipulation tasks by formulating a single multi-contact optimal control problem. We model the hybrid nature of a generic multi-limbed mobile…
Mobile manipulators are designed to perform complex sequences of navigation and manipulation tasks in human-centered environments. While recent optimization-based methods such as Hierarchical Task Model Predictive Control (HTMPC) enable…
The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…
In this paper we outline the approach of solving special type of navigation tasks for robotic systems, when a coalition of robots (agents) acts in the 2D environment, which can be modified by the actions, and share the same goal location.…
Recent advancements in robotics have enabled robots to navigate complex scenes or manipulate diverse objects independently. However, robots are still impotent in many household tasks requiring coordinated behaviors such as opening doors.…
3D object reconfiguration encompasses common robot manipulation tasks in which a set of objects must be moved through a series of physically feasible state changes into a desired final configuration. Object reconfiguration is challenging to…
This paper investigates a fully distributed cooperation scheme for networked mobile manipulators. To achieve cooperative task allocation in a distributed way, an adaptation-based estimation law is established for each robotic agent to…
A fundamental challenge in multi-robot motion planning is achieving sufficient coordination to avoid inter-robot conflicts without incurring the large computational expense of searching the joint configuration space of the robot group. In…
Robots interacting with humans must be safe, reactive and adapt online to unforeseen environmental and task changes. Achieving these requirements concurrently is a challenge as interactive planners lack formal safety guarantees, while safe…
It is necessary for a mobile robot to be able to efficiently plan a path from its starting, or current, location to a desired goal location. This is a trivial task when the environment is static. However, the operational environment of the…
A hyper-redundant robotic arm is a manipulator with many degrees of freedom, capable of executing tasks in cluttered environments where robotic arms with fewer degrees of freedom are unable to operate. This paper introduces a new method for…