Related papers: Coordination of multiple mobile manipulators for o…
Sorting a set of items is a task that can be useful by itself or as a building block for more complex operations. That is why a lot of effort has been put into finding sorting algorithms that sort large sets as fast as possible. But the…
We consider the problem of reorienting a rigid object with arbitrary known shape on a table using a two-finger pinch gripper. Reorienting problem is challenging because of its non-smoothness and high dimensionality. In this work, we focus…
Object rearrangement is the problem of enabling a robot to identify the correct object placement in a complex environment. Prior work on object rearrangement has explored a diverse set of techniques for following user instructions to…
We focus on the task of unknown object rearrangement, where a robot is supposed to re-configure the objects into a desired goal configuration specified by an RGB-D image. Recent works explore unknown object rearrangement systems by…
Autonomous excavation for hard or compact materials, especially irregular rigid objects, is challenging due to high variance of geometric and physical properties of objects, and large resistive force during excavation. In this paper, we…
Autonomous mobile robots (AMRs) are increasingly used to automate operations in intralogistics. One crucial feature of AMRs is their availability, allowing them to operate 24/7. This work addresses the multibay unit load pre-marshalling…
In this paper, we propose a distributed coordinated constrained task execution (C2TE) algorithm that enables a team of vehicles from different lanes to cooperatively merge into an {\it ordering-flexible platoon} maneuvering on the desired…
In this study, working with the task of object retrieval in clutter, we have developed a robot learning framework in which Monte Carlo Tree Search (MCTS) is first applied to enable a Deep Neural Network (DNN) to learn the intricate…
The Gathering problem for a swarm of robots asks for a distributed algorithm that brings such entities to a common place, not known in advance. We consider the well-known OBLOT model with robots constrained to move along the edges of a…
We study the complexity of a fundamental algorithm for fairly allocating indivisible items, the round-robin algorithm. For $n$ agents and $m$ items, we show that the algorithm can be implemented in time $O(nm\log(m/n))$ in the worst case.…
We consider a set of challenging sequential manipulation puzzles, where an agent has to interact with multiple movable objects and navigate narrow passages. Such settings are notoriously difficult for Task-and-Motion Planners, as they…
Autonomous robotic manipulation in clutter is challenging. A large variety of objects must be perceived in complex scenes, where they are partially occluded and embedded among many distractors, often in restricted spaces. To tackle these…
In response to the growing challenges of manual labor and efficiency in warehouse operations, Amazon has embarked on a significant transformation by incorporating robotics to assist with various tasks. While a substantial number of robots…
Order picking is the process of retrieving ordered products from storage locations in warehouses. In picker-to-parts order picking systems, two or more customer orders may be grouped and assigned to a single picker. Then routing decision…
In complex scenarios where typical pick-and-place techniques are insufficient, often non-prehensile manipulation can ensure that a robot is able to fulfill its task. However, non-prehensile manipulation is challenging due to its…
The Bin Packing Problem involves efficiently packing items into a limited number of bins without exceeding their capacity. In this paper, we try to answer a specific question in this field. Mathematically the combinatorial optimization…
Autonomous sorting is a crucial task in industrial robotics which can be very challenging depending on the expected amount of automation. Usually, to decide where to sort an object, the system needs to solve either an instance retrieval…
The problem of optimizing a sequence of tasks for a robot, also known as multi-point manufacturing, is a well-studied problem. Many of these solutions use a variant of the Traveling Salesman Problem (TSP) and seek to find the minimum…
The problem of multimodal clustering arises whenever the data are gathered with several physically different sensors. Observations from different modalities are not necessarily aligned in the sense there there is no obvious way to associate…
This paper considers the motion planning problem for multiple tethered planar mobile robots. Each robot is attached to a fixed base by a flexible cable. Since the robots share a common workspace, the interactions amongst the robots, cables,…