Related papers: Logic programming for deliberative robotic task pl…
In this work, we introduce SMART-LLM, an innovative framework designed for embodied multi-robot task planning. SMART-LLM: Smart Multi-Agent Robot Task Planning using Large Language Models (LLMs), harnesses the power of LLMs to convert…
As the number of robots in our daily surroundings like home, office, restaurants, factory floors, etc. are increasing rapidly, the development of natural human-robot interaction mechanism becomes more vital as it dictates the usability and…
The use of robots in minimally invasive surgery has improved the quality of standard surgical procedures. So far, only the automation of simple surgical actions has been investigated by researchers, while the execution of structured tasks…
We describe an algorithm for motion planning based on expert demonstrations of a skill. In order to teach robots to perform complex object manipulation tasks that can generalize robustly to new environments, we must (1) learn a…
Collaboration requires coordination, and we coordinate by anticipating our teammates' future actions and adapting to their plan. In some cases, our teammates' actions early on can give us a clear idea of what the remainder of their plan is,…
In this paper we present a method for automatically planning 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 system. The…
Planning in robotics is often split into task and motion planning. The high-level, symbolic task planner decides what needs to be done, while the motion planner checks feasibility and fills up geometric detail. It is known however that such…
There is an increasing need to develop artificial intelligence systems that assist groups of humans working on coordinated tasks. These systems must recognize and understand the plans and relationships between actions for a team of humans…
Automated planning is concerned with developing efficient algorithms to generate plans or sequences of actions to achieve a specific goal in a given environment. Emerging Large Language Models (LLMs) can answer questions, write high-quality…
Effective planning is essential for the success of any task, from organizing a vacation to routing autonomous vehicles and developing corporate strategies. It involves setting goals, formulating plans, and allocating resources to achieve…
Achieving effective and seamless human-robot collaboration requires two key outcomes: enhanced team performance and fostering a positive human perception of both the robot and the collaboration. This paper investigates the capability of the…
Reinforcement learning and probabilistic reasoning algorithms aim at learning from interaction experiences and reasoning with probabilistic contextual knowledge respectively. In this research, we develop algorithms for robot task…
This paper explores general multi-robot task and motion planning, where multiple robots in close proximity manipulate objects while satisfying constraints and a given goal. In particular, we formulate the plan refinement problem--which,…
In this paper, we present a planning system based on semantic reasoning for a general-purpose service robot, which is aimed at behaving more intelligently in domains that contain incomplete information, under-specified goals, and dynamic…
Manufacturing is facing ever changing market demands, with faster innovation cycles resulting to growing agility and flexibility requirements. Industry 4.0 has been transforming the manufacturing world towards digital automation and the…
Generating explanation to explain its behavior is an essential capability for a robotic teammate. Explanations help human partners better understand the situation and maintain trust of their teammates. Prior work on robot generating…
Producing robust task plans in human-robot collaborative missions is a critical activity in order to increase the likelihood of these missions completing successfully. Despite the broad research body in the area, which considers different…
Environments for systematic construction of logic programs are needed in the academy as well as in the industry. Such environments should support well defined construction methods and should be able to be extended and interact with other…
The research and development of intelligent automation solutions is a ground-breaking point for the factory of the future. A promising and challenging mission is the use of autonomous robot systems to automate tasks in the field of…
Recent years have witnessed a growing interest in automating labor-intensive and complex activities, i.e., those consisting of multiple atomic tasks, by deploying robots in dynamic and unpredictable environments such as industrial and…