Related papers: Mobile Manipulator for Autonomous Localization, Gr…
We present a fully-integrated sensing and control system which enables mobile manipulator robots to execute building tasks with millimeter-scale accuracy on building construction sites. The approach leverages multi-modal sensing…
Mobile manipulators can be used for machine tending and material handling tasks in small volume manufacturing applications. These applications usually have semi-structured work environment. The use of a fully autonomous mobile manipulator…
With humankind facing new and increasingly large-scale challenges in the medical and domestic spheres, automation of the service sector carries a tremendous potential for improved efficiency, quality, and safety of operations. Mobile…
While both navigation and manipulation are challenging topics in isolation, many tasks require the ability to both navigate and manipulate in concert. To this end, we propose a mobile manipulation system that leverages novel navigation and…
Tasks in outdoor open world environments are now ripe for automation with mobile manipulators. The dynamic, unstructured and unknown environments associated with such tasks -- a prime example would be collecting roadside trash -- makes them…
Deploying robots in open-ended unstructured environments such as homes has been a long-standing research problem. However, robots are often studied only in closed-off lab settings, and prior mobile manipulation work is restricted to…
This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…
A robotic solution for the unmanned ground vehicles (UGVs) to execute the highly complex task of object manipulation in an autonomous mode is presented. This paper primarily focuses on developing an autonomous robotic system capable of…
Providing mobile robots with the ability to manipulate objects has, despite decades of research, remained a challenging problem. The problem is approachable in constrained environments where there is ample prior knowledge of the environment…
Mobile manipulation robots are continuously advancing, with their grasping capabilities rapidly progressing. However, there are still significant gaps preventing state-of-the-art mobile manipulators from widespread real-world deployments,…
This paper addresses the problem of mobile grasping in dynamic, unknown environments where a robot must operate under a limited field-of-view. The fundamental challenge is the inherent trade-off between ``seeing'' around to reduce…
This paper presents the concept of an In situ Fabricator, a mobile robot intended for on-site manufacturing, assembly and digital fabrication. We present an overview of a prototype system, its capabilities, and highlight the importance of…
Complex manipulation tasks, such as rearrangement planning of numerous objects, are combinatorially hard problems. Existing algorithms either do not scale well or assume a great deal of prior knowledge about the environment, and few offer…
In this paper we address mobile manipulation planning problems in the presence of sensing and environmental uncertainty. In particular, we consider mobile sensing manipulators operating in environments with unknown geometry and uncertain…
In this paper, we present a planner that plans a sequence of base positions for a mobile manipulator to efficiently and robustly collect objects stored in distinct trays. We achieve high efficiency by exploring the common areas where a…
Autonomous dual-arm manipulation is an essential skill to deploy robots in unstructured scenarios. However, this is a challenging undertaking, particularly in terms of perception and planning. Unstructured scenarios are full of objects with…
Establishing lunar infrastructure is paramount to long-term habitation on the Moon. To meet the demand for future lunar infrastructure development, we present CraterGrader, a novel system for autonomous robotic earthmoving tasks within…
This paper presents an integrated system for performing precision harvesting missions using a legged harvester. Our harvester performs a challenging task of autonomous navigation and tree grabbing in a confined, GPS denied forest…
Recent advances in data-driven models for grounded language understanding have enabled robots to interpret increasingly complex instructions. Two fundamental limitations of these methods are that most require a full model of the environment…
Robust and accurate, map-based localization is crucial for autonomous mobile systems. In this paper, we exploit range images generated from 3D LiDAR scans to address the problem of localizing mobile robots or autonomous cars in a map of a…