Related papers: Long-Horizon Multi-Robot Rearrangement Planning fo…

The development of human-robot collaboration has the ability to improve manufacturing system performance by leveraging the unique strengths of both humans and robots. On the shop floor, human operators contribute with their adaptability and…

In this paper, we propose a distributed multi-stage optimization method for planning complex missions for heterogeneous multi-robot teams. This class of problems involves tasks that can be executed in different ways and are associated with…

Synchronized dual-arm rearrangement is widely studied as a common scenario in industrial applications. It often faces scalability challenges due to the computational complexity of robotic arm rearrangement and the high-dimensional nature of…

Correct-by-construction manipulation planning in a dynamic environment, where other agents can manipulate objects in the workspace, is a challenging problem. The tight coupling of actions and motions between agents and complexity of mission…

With the growing complexity and capability of contemporary robotic systems, the necessity of sophisticated computing solutions to efficiently handle tasks such as real-time processing, sensor integration, decision-making, and control…

*The following abbreviates the abstract. Please refer to the thesis for the full abstract.* After a disaster, locating and extracting victims quickly is critical because mortality rises rapidly after the first two days. To assist search and…

We introduce and study the Joint Task Assistance Planning problem which generalizes prior work on optimizing assistance in robotic collaboration. In this setting, two robots operate over predefined roadmaps, each represented as a graph…

Multi-robot motion planning (MRMP) is the problem of finding collision-free paths for a set of robots in a continuous state space. The difficulty of MRMP increases with the number of robots and is exacerbated in environments with narrow…

This paper presents a planner that can automatically find an optimal assembly sequence for a dual-arm robot to assemble the soma blocks. The planner uses the mesh model of objects and the final state of the assembly to generate all possible…

Long-term Human-Robot Collaboration (HRC) is crucial for enabling flexible manufacturing systems and integrating companion robots into daily human environments over extended periods. This paper identifies several key challenges for such…

This paper proposes a distributed on-orbit spacecraft assembly algorithm, where future spacecraft can assemble modules with different functions on orbit to form a spacecraft structure with specific functions. This form of spacecraft…

Multi-robot Motion Planning (MRMP) is an active research field which has gained attention over the years. MRMP has significant roles to improve the efficiency and reliability of multi-robot system in a wide range of applications from…

Autonomous multi-robot optical inspection systems are increasingly applied for obtaining inline measurements in process monitoring and quality control. Numerous methods for path planning and robotic coordination have been developed for…

Large Language Models (LLMs) enable intelligent multi-robot collaboration but face fundamental trade-offs: open-loop methods that compile tasks into formal representations for external executors produce sound plans but lack adaptability in…

We present a large language model (LLM) based system to empower quadrupedal robots with problem-solving abilities for long-horizon tasks beyond short-term motions. Long-horizon tasks for quadrupeds are challenging since they require both a…

Robotic systems are routinely used in the logistics industry to enhance operational efficiency, but the design of robot workspaces remains a complex and manual task, which limits the system's flexibility to changing demands. This paper aims…

An algorithm for robot formation path planning is presented in this paper. Given a map of the working environment, the algorithm finds a path for a formation taking into account possible split of the formation and its consecutive merge. The…

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…

Multi-robot decision-making is the process where multiple robots coordinate actions. In this paper, we aim for efficient and effective multi-robot decision-making despite the robots' limited on-board resources and the often…

Planning long-horizon robot manipulation requires making discrete decisions about which objects to interact with and continuous decisions about how to interact with them. A robot planner must select grasps, placements, and motions that are…