Related papers: Tractability Frontiers in Multi-Robot Coordination…
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…
Mixtures of Linear Regressions (MLR) is an important mixture model with many applications. In this model, each observation is generated from one of the several unknown linear regression components, where the identity of the generated…
We focus on push-based multi-object rearrangement planning using a nonholonomically constrained mobile robot. The simultaneous geometric, kinematic, and physics constraints make this problem especially challenging. Prior work on…
Multi-robot systems enhance efficiency and productivity across various applications, from manufacturing to surveillance. While single-robot motion planning has improved by using databases of prior solutions, extending this approach to…
The multireference alignment problem consists of estimating a signal from multiple noisy shifted observations. Inspired by existing Unique-Games approximation algorithms, we provide a semidefinite program (SDP) based relaxation which…
We consider the problem of reconfiguring a two-dimensional connected grid arrangement of passive building blocks from a start configuration to a goal configuration, using a single active robot that can move on the tiles, remove individual…
This paper presents a novel algorithm for robot task and motion planning (TAMP) problems by utilizing a reachability tree. While tree-based algorithms are known for their speed and simplicity in motion planning (MP), they are not…
Manipulation relationship detection (MRD) aims to guide the robot to grasp objects in the right order, which is important to ensure the safety and reliability of grasping in object stacked scenes. Previous works infer manipulation…
Motion planning trajectories for a multi-limbed robot to climb up walls requires a unique combination of constraints on torque, contact force, and posture. This paper focuses on motion planning for one particular setup wherein a six-legged…
Recently, machine learning (ML) methods have been developed for increasing the accuracy of robot mechanisms. Complex mechanical issues such as non-linear friction, backlash, flexibility of structure transmission elements can cause these…
Multi-human multi-robot (MH-MR) systems have the ability to combine the potential advantages of robotic systems with those of having humans in the loop. Robotic systems contribute precision performance and long operation on repetitive tasks…
We study the problem of motion-planning for free-flying multi-link robots and develop a sampling-based algorithm that is specifically tailored for the task. Our work is based on the simple observation that the set of configurations for…
Many core problems in robotics can be framed as constrained optimization problems. Often on these problems, the robotic system has uncertainty, or it would be advantageous to identify multiple high quality feasible solutions. To enable…
In the real-time decision-making and local planning process of autonomous vehicles in dynamic environments, the autonomous driving system may fail to find a reasonable policy or even gets trapped in some situation due to the complexity of…
This work addresses the coordination problem of multiple robots with the goal of finding specific hazardous targets in an unknown area and dealing with them cooperatively. The desired behaviour for the robotic system entails multiple…
This paper studies the optimal placement of ceiling-mounted metasurfaces (MTSs) to help focus the wireless signal beam onto the target receiver, as inspired by the theatre spotlight. We assume that a total of $M$ MTSs are deployed, and that…
The goal of robust motion planning consists of designing open-loop controls which optimally steer a system to a specific target region while mitigating uncertainties and disturbances which affect the dynamics. Recently, stochastic optimal…
Multi-Robot Motion Planning (MRMP) involves generating collision-free trajectories for multiple robots operating in a shared continuous workspace. While discrete multi-agent path finding (MAPF) methods are broadly adopted due to their…
A metamorphic robotic system (MRS) consists of anonymous modules, each of which autonomously moves in the 2D square grid by sliding and rotation with keeping connectivity among the modules. Existing literature considers distributed…
Efficient utilization of cooperating robots in the assembly of aircraft structures relies on balancing the workload of the robots and ensuring collision-free scheduling. We cast this problem as that of allocating a large number of…