Related papers: Cooperative Task and Motion Planning for Multi-Arm…
Understanding the intentions of human teammates is critical for safe and effective human-robot interaction. The canonical approach for human-aware robot motion planning is to first predict the human's goal or path, and then construct a…
Assembly of multi-part physical structures is both a valuable end product for autonomous robotics, as well as a valuable diagnostic task for open-ended training of embodied intelligent agents. We introduce a naturalistic physics-based…
We present a novel mission-planning strategy for heterogeneous multi-robot teams, taking into account the specific constraints and capabilities of each robot. Our approach employs hierarchical trees to systematically break down complex…
The paper surveys topological problems relevant to the motion planning problem of robotics and includes some new results and constructions. First we analyse the notion of topological complexity of configuration spaces which is responsible…
Pushing is a simple yet effective skill for robots to interact with and further change the environment. Related work has been mostly focused on utilizing it as a non-prehensile manipulation primitive for a robotic manipulator. However, it…
While motion planning of locomotion for legged robots has shown great success, motion planning for legged robots with dexterous multi-finger grasping is not mature yet. We present an efficient motion planning framework for simultaneously…
We propose novel techniques for task allocation and planning in multi-robot systems operating in uncertain environments. Task allocation is performed simultaneously with planning, which provides more detailed information about individual…
Robotic pick and place stands at the heart of autonomous manipulation. When conducted in cluttered or complex environments robots must jointly reason about the selected grasp and desired placement locations to ensure success. While several…
In this work, we present a workspace-based planning framework, which though using redundant workspace key-points to represent robot states, can take advantage of the interpretable geometric information to derive good quality collision-free…
The deployment of mobile robots for material handling in industrial environments requires scalable coordination of large fleets in dynamic settings. This paper presents a two-layer framework that combines high-level scheduling with…
This paper presents a solution for the problem of optimal planning for a robot in a collaborative human-robot team, where the human supervisor is intermittently available to assist the robot in completing tasks more quickly. Specifically,…
High degree-of-freedom dual-arm robots are becoming increasingly common due to their morphology enabling them to operate effectively in human environments. However, motion planning in real-time within unknown, changing environments remains…
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,…
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…
It is crucial to efficiently execute instructions such as "Find an apple and a banana" or "Get ready for a field trip," which require searching for multiple objects or understanding context-dependent commands. This study addresses the…
During complex object manipulation, manipulator systems often face the configuration disconnectivity problem due to closed-chain constraints. Although regrasping can be adopted to get a piecewise connected manipulation, it is a challenging…
Continuum robots with floating bases demonstrate exceptional operational capabilities in confined spaces, such as those encountered in medical surgeries and equipment maintenance. However, developing low-cost solutions for their motion and…
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…
We propose a novel algorithm to solve multi-robot motion planning (MRMP) rapidly, called Simultaneous Sampling-and-Search Planning (SSSP). Conventional MRMP studies mostly take the form of two-phase planning that constructs roadmaps and…
We present a complete framework for fast motion planning of non-holonomic autonomous mobile robots in highly complex but structured environments. Conventional grid-based planners struggle with scalability, while many kinematically-feasible…