Related papers: Lessons Learned Developing an Assembly System for …
This paper develops a planner to find an optimal assembly sequence to assemble several objects. The input to the planner is the mesh models of the objects, the relative poses between the objects in the assembly, and the final pose of the…
Swarm robotic systems are mainly inspired by swarms of socials insects and the collective emergent behavior that arises from their cooperation at the lower lever. Despite the limited sensory ability, computational power, and communication…
To prepare students for upcoming trends and challenges, it is important to teach them about the helpful and important aspects of modern technologies, such as robotics. However, classic study programs often fail to prepare students for…
With the continuous breakthroughs in core technology, the dawn of large-scale integration of robotic systems into daily human life is on the horizon. Multi-robot systems (MRS) built on this foundation are undergoing drastic evolution. The…
Robotic assembly presents a long-standing challenge due to its requirement for precise, contact-rich manipulation. While simulation-based learning has enabled the development of robust assembly policies, their performance often degrades…
Framing an issue as a puzzle, problem, or mess is an illustrative approach to characterizing the issue's complexity within organizational theory and systems thinking. We use this approach to characterize the issue of designing collective…
Trajectory replanning is a critical problem for multi-robot teams navigating dynamic environments. We present RLSS (Replanning using Linear Spatial Separations): a real-time trajectory replanning algorithm for cooperative multi-robot teams…
The current transformation towards smart manufacturing has led to a growing demand for human-robot collaboration (HRC) in the manufacturing process. Perceiving and understanding the human co-worker's behaviour introduces challenges for…
Inspired by traditional handmade crafts, where a person improvises assemblies based on the available objects, we formally introduce the Craft Assembly Task. It is a robotic assembly task that involves building an accurate representation of…
Robotic manipulation is currently undergoing a profound paradigm shift due to the increasing needs for flexible manufacturing systems, and at the same time, because of the advances in enabling technologies such as sensing, learning,…
Robustness, the ability of a system to maintain performance under significant and unanticipated environmental changes, is a critical property for robotic systems. While biological systems naturally exhibit robustness, there is no…
Building general-purpose robots to perform a diverse range of tasks in a large variety of environments in the physical world at the human level is extremely challenging. It requires the robot learning to be sample-efficient, generalizable,…
Robots-operating autonomous assembly applications in an unstructured environment require precise methods to locate the building components on site. However, the current available object detection systems are not well-optimised for…
We introduce a novel strategy for multi-robot sorting of waste objects using Reinforcement Learning. Our focus lies on finding optimal picking strategies that facilitate an effective coordination of a multi-robot system, subject to…
This study presents a system integration approach for planning schedules, sequences, tasks, and motions for reconfigurable robots to automatically disassemble constrained structures in a non-destructive manner. Such systems must adapt their…
Planning for legged-wheeled machines is typically done using trajectory optimization because of many degrees of freedom, thus rendering legged-wheeled planners prone to falling prey to bad local minima. We present a combined sampling and…
The development of collective-aware multi-robot systems is crucial for enhancing the efficiency and robustness of robotic applications in multiple fields. These systems enable collaboration, coordination, and resource sharing among robots,…
Robots operate under significant uncertainty, from quantifiable noise to unquantifiable unknowns, and must account for strict operational constraints, such as limited resources. In this paper, we consider the problem of synthesizing robust…
The programming of robotic assembly tasks is a key component in manufacturing and automation. Force-sensitive assembly, however, often requires reactive strategies to handle slight changes in positioning and unforeseen part jamming.…
Humans possess an extraordinary ability to understand and execute complex manipulation tasks by interpreting abstract instruction manuals. For robots, however, this capability remains a substantial challenge, as they cannot interpret…