Related papers: Improving Redundancy Availability: Dynamic Subtask…
Safe and compliant control of dynamic systems in interaction with the environment, e.g., in shared workspaces, continues to represent a major challenge. Mismatches in the dynamic model of the robots, numerical singularities, and the…
The paper focuses on the redundancy resolution in kinematic control of a new type of serial manipulator composed of multiple tensegrity segments, which are moving in a multi-obstacle environment. The general problem is decomposed into two…
This paper considers the problem of assigning multiple mobile robots to goals on transport networks with uncertain information about travel times. Our aim is to produce optimal assignments, such that the average waiting time at destinations…
The increasing interest in autonomous robots with a high number of degrees of freedom for industrial applications and service robotics demands control algorithms to handle multiple tasks as well as hard constraints efficiently. This paper…
Human-robot collaboration aims to extend human ability through cooperation with robots. This technology is currently helping people with physical disabilities, has transformed the manufacturing process of companies, improved surgical…
Trajectory generation in confined environment is crucial for wide adoption of intelligent robot manipulators. In this paper, we propose a novel motion planning approach for redundant robot arms that uses a hybrid optimization framework to…
While traditional robotic systems come with a monolithic system design, reconfigurable multi-robot systems can share and shift physical resources in an on-demand fashion. Multi-robot operations can benefit from this flexibility by actively…
We present a generalized version of the Saturation in the Null Space (SNS) algorithm for the task control of redundant robots when hard inequality constraints are simultaneously present both in the joint and in the Cartesian space. These…
Multi-object transport using multi-robot systems has the potential for diverse practical applications such as delivery services owing to its efficient individual and scalable cooperative transport. However, allocating transportation tasks…
In this paper, we consider the dynamic multi-robot distribution problem where a heterogeneous group of networked robots is tasked to spread out and simultaneously move towards multiple moving task areas while maintaining connectivity. The…
In this paper, we demonstrate a formulation for optimizing coupled submodular maximization problems with provable sub-optimality bounds. In robotics applications, it is quite common that optimization problems are coupled with one another…
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…
This paper presents an interconnected control-planning strategy for redundant manipulators, subject to system and environmental constraints. The method incorporates low-level control characteristics and high-level planning components into a…
In this work we consider the problem of mobile robots that need to manipulate/transport an object via cables or robotic arms. We consider the scenario where the number of manipulating robots is redundant, i.e. a desired object configuration…
For a multi-robot system equipped with heterogeneous capabilities, this paper presents a mechanism to allocate robots to tasks in a resilient manner when anomalous environmental conditions such as weather events or adversarial attacks…
Increasing the degrees of freedom of robotic systems makes them more versatile and flexible. This usually renders the system kinematically redundant: the main manipulation or interaction task does not fully determine its joint maneuvers.…
We study the consideration of fairness in redundant assignment for multi-agent task allocation. It has recently been shown that redundant assignment of agents to tasks provides robustness to uncertainty in task performance. However, the…
Allocating tasks to heterogeneous robot teams in environments with uncertain task requirements is a fundamentally challenging problem. Redundantly assigning multiple robots to such tasks is overly conservative, while purely reactive…
The advantage of modular self-reconfigurable robot systems is their flexibility, but this advantage can only be realized if appropriate configurations (shapes) and behaviors (controlling programs) can be selected for a given task. In this…
In this work, we present a method for minimizing the time required for a redundant dual-arm robot to follow a desired relative Cartesian path at constant path speed by optimizing its joint trajectories, subject to position, velocity, and…