Related papers: Productive Multitasking for Industrial Robots
Modular robots can be tailored to achieve specific tasks and rearranged to achieve previously infeasible ones. The challenge is choosing an appropriate design from a large search space. In this work, we describe a framework that…
Shared autonomy methods, where a human operator and a robot arm work together, have enabled robots to complete a range of complex and highly variable tasks. Existing work primarily focuses on one human sharing autonomy with a single robot.…
Purpose of Review: To effectively synthesise and analyse multi-robot behaviour, we require formal task-level models which accurately capture multi-robot execution. In this paper, we review modelling formalisms for multi-robot systems under…
The presence and coexistence of human operators and collaborative robots in shop-floor environments raises the need for assigning tasks to either operators or robots, or both. Depending on task characteristics, operator capabilities and the…
The field of Human-Robot Collaboration (HRC) has seen a considerable amount of progress in recent years. Thanks in part to advances in control and perception algorithms, robots have started to work in increasingly unstructured environments,…
We propose a new formulation for the multi-robot task planning and allocation problem that incorporates (a) precedence relationships between tasks; (b) coordination for tasks allowing multiple robots to achieve increased efficiency; and (c)…
The implementation of robots to enhance some processes has become popular in recent years due to the accelerated way of production in some factories. Within this context was where robotics has emerged, firstly with stationary robots and…
Multi-robot assembly systems are becoming increasingly appealing in manufacturing due to their ability to automatically, flexibly, and quickly construct desired structural designs. However, effectively planning for these systems in a manner…
In this paper we present a reformulation--framed as a constrained optimization problem--of multi-robot tasks which are encoded through a cost function that is to be minimized. The advantages of this approach are multiple. The…
We study the problem of sequential task assignment and collision-free routing for large teams of robots in applications with inter-task precedence constraints (e.g., task $A$ and task $B$ must both be completed before task $C$ may begin).…
Deploying heterogeneous robot teams to accomplish multiple tasks over extended time horizons presents significant computational challenges for task allocation and planning. In this paper, we present a comprehensive, time-extended, offline…
In complex manipulation scenarios (e.g. tasks requiring complex interaction of two hands or in-hand manipulation), generalization is a hard problem. Current methods still either require a substantial amount of (supervised) training data and…
Model-based Reinforcement Learning and Control have demonstrated great potential in various sequential decision making problem domains, including in robotics settings. However, real-world robotics systems often present challenges that limit…
Human-Robot Teams offer the flexibility needed for partial automation in small and medium-sized enterprises (SMEs). They will thus be an integral part of Factories of the Future. Our research targets a particularly flexible teaming mode,…
The design and organization of complex robotic systems traditionally requires laborious trial-and-error processes to ensure both hardware and software components are correctly connected with the resources necessary for computation. This…
Multi-robot teams offer possibilities of improved performance and fault tolerance, compared to single robot solutions. In this paper, we show how to realize those possibilities when starting from a single robot system controlled by a…
To reliably model real robot characteristics, interval linear systems of equations allow to describe families of problems that consider sets of values. This allows to easily account for typical complexities such as sets of joint states and…
Over the last decade, the use of robots in production and daily life has increased. With increasingly complex tasks and interaction in different environments including humans, robots are required a higher level of autonomy for efficient…
In this paper, we propose a framework for the control of mobile robots subject to temporal logic specifications using barrier functions. Complex task specifications can be conveniently encoded using linear temporal logic. In particular, we…
We consider the problem of completing a set of $n$ tasks with a human-robot team using minimum effort. In many domains, teaching a robot to be fully autonomous can be counterproductive if there are finitely many tasks to be done. Rather,…