Related papers: Optimal Constrained Task Planning as Mixed Integer…
This paper investigates the task coordination of multi-robot where each robot has a private individual temporal logic task specification; and also has to jointly satisfy a globally given collaborative temporal logic task specification. To…
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…
Intelligent robots need to generate and execute plans. In order to deal with the complexity of real environments, planning makes some assumptions about the world. When executing plans, the assumptions are usually not met. Most works have…
Constraint-based control approaches offer a flexible way to specify robotic manipulation tasks and execute them on robots with many degrees of freedom. However, the specification of task constraints and their associated priorities usually…
Reconfigurable multi-robot cells offer a promising approach to meet fluctuating assembly demands. However, the recurrent planning of their configurations introduces new challenges, particularly in generating optimized, coordinated…
Multi-robot planning and coordination in uncertain environments is a fundamental computational challenge, since the belief space increases exponentially with the number of robots. In this paper, we address the problem of planning in…
The optimal robot assembly planning problem is challenging due to the necessity of finding the optimal solution amongst an exponentially vast number of possible plans, all while satisfying a selection of constraints. Traditionally, robotic…
This letter presents a novel multi-robot task allocation and path planning method that considers robots' maximum range constraints in large-sized workspaces, enabling robots to complete the assigned tasks within their range limits. Firstly,…
We present a hierarchical framework to solve robot planning as an input control problem. At the lowest level are temporary closed control loops, ("tasks"), each representing a behaviour, contingent on a specific sensory input and therefore…
In this paper we present a method for automatically planning robust optimal paths for a group of robots that satisfy a common high level mission specification. Each robot's motion in the environment is modeled as a weighted transition…
We address the problem of planning robot motions in constrained configuration spaces where the constraints change throughout the motion. The problem is formulated as a fixed sequence of intersecting manifolds, which the robot needs to…
This paper presents planning algorithms for a robotic manipulator with a fixed base in order to grasp a target object in cluttered environments. We consider a configuration of objects in a confined space with a high density so no…
Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous,…
This paper presents a trajectory optimization and control approach for the guidance of an orbital four-arm robot in extravehicular activities. The robot operates near the target spacecraft, enabling its arm's end-effectors to reach the…
Planning motions for two robot arms to move an object collaboratively is a difficult problem, mainly because of the closed-chain constraint, which arises whenever two robot hands simultaneously grasp a single rigid object. In this paper, we…
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…
Skill-based programming of robots provides a flexible approach for automation. Existing solutions neglect the optimization of motion sequences, leading to inefficiencies in execution. This work introduces a planning method that enhances…
Efficient and robust task planning for a human-robot collaboration (HRC) system remains challenging. The human-aware task planner needs to assign jobs to both robots and human workers so that they can work collaboratively to achieve better…
We address multi-robot safe mission planning in uncertain dynamic environments. This problem arises in several applications including safety-critical exploration, surveillance, and emergency rescue missions. Computation of a multi-robot…
Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…