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Mobile manipulators are finding use in numerous practical applications. The current issues with mobile manipulation are the large state space owing to the mobile base and the challenge of modeling high degree of freedom systems. It is…
Caging is a promising tool which allows a robot to manipulate an object without directly reasoning about the contact dynamics involved. Furthermore, caging also provides useful guarantees in terms of robustness to uncertainty, and often…
Combining symbolic and geometric reasoning in multi-agent systems is a challenging task that involves planning, scheduling, and synchronization problems. Existing works overlooked the variability of task duration and geometric feasibility…
We present a reactive base control method that enables high performance mobile manipulation on-the-move in environments with static and dynamic obstacles. Performing manipulation tasks while the mobile base remains in motion can…
We propose a real-time implementable motion planning framework for cooperative object transportation by nonholonomic mobile manipulator robots (MMRs) in dynamic environments. Our global planner finds a path from start to goal through the…
Mobile manipulators are known for their superior mobility over manipulators on fixed bases, offering promising applications in smart industry and housekeeping scenarios. The dynamic coupling nature between the mobile base and the…
We present a novel class of robots belonging to Constrained Collaborative Mobile Agents (CCMA) family which consists of ground mobile bases with non-holonomic constraints. Moreover, these mobile robots are constrained by closed-loop…
Robotic manipulators operating in dynamic and uncertain environments require efficient motion planning to navigate obstacles while maintaining smooth trajectories. Velocity Potential Field (VPF) planners offer real-time adaptability but…
Using a deformable sheet to handle objects is convenient and found in many practical applications. For object manipulation through a deformable sheet that is held by multiple mobile robots, it is a challenging task to model the object-sheet…
This paper addresses two intertwined needs for collaborative robots operating in shop-floor environments. The first is the ability to perform complex manipulation operations, such as those on articulated or even flexible objects, in a way…
Robot manipulation in cluttered environments often requires complex and sequential rearrangement of multiple objects in order to achieve the desired reconfiguration of the target objects. Due to the sophisticated physical interactions…
Motion simulation, prediction and planning are foundational tasks in autonomous driving, each essential for modeling and reasoning about dynamic traffic scenarios. While often addressed in isolation due to their differing objectives, such…
The growing integration of mobile robots in shared workspaces requires efficient path planning and coordination between the agents, accounting for safety and productivity. In this work, we propose a digital model-based optimization…
In-Motion physical coupling of multiple mobile ground robots has the potential to enable new applications like in-motion transfer that improves efficiency in handling and transferring goods, which tackles current challenges in logistics. A…
Loco-manipulation planning skills are pivotal for expanding the utility of robots in everyday environments. These skills can be assessed based on a system's ability to coordinate complex holistic movements and multiple contact interactions…
Automated vehicles and logistics robots must often position themselves in narrow environments with high precision in front of a specific target, such as a package or their charging station. Often, these docking scenarios are solved in two…
Mobile manipulation typically entails the base for mobility, the arm for accurate manipulation, and the camera for perception. The principle of Distant Mobility, Close Grasping(DMCG) is essential for holistic control. We propose Embodied…
This paper investigates the control problem of steering a group of spherical mobile robots to cooperatively transport a spherical object. By controlling the movements of the robots to exert appropriate contact (pushing) forces, it is…
Many functional elements of human homes and workplaces consist of rigid components which are connected through one or more sliding or rotating linkages. Examples include doors and drawers of cabinets and appliances; laptops; and swivel…
Teleoperation provides a way for human operators to guide robots in situations where full autonomy is challenging or where direct human intervention is required. It can also be an important tool to teach robots in order to achieve…