Related papers: PuSHR: A Multirobot System for Nonprehensile Rearr…
Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…
We study decentralized cooperative transport using teams of N-quadruped robots with arm that must pinch, lift, and move ungraspable objects through physical contact alone. Unlike prior work that relies on rigid mechanical coupling between…
This work explores the use of topological tools for achieving effective non-prehensile manipulation in cluttered, constrained workspaces. In particular, it proposes the use of persistent homology as a guiding principle in identifying the…
We present a coordination method for multiple mobile manipulators to sort objects in clutter. We consider the object rearrangement problem in which the objects must be sorted into different groups in a particular order. In clutter, the…
In applications such as search and rescue or disaster relief, heterogeneous multi-robot systems (MRS) can provide significant advantages for complex objectives that require a suite of capabilities. However, within these application spaces,…
We address the problem of visually guided rearrangement planning with many movable objects, i.e., finding a sequence of actions to move a set of objects from an initial arrangement to a desired one, while relying on visual inputs coming…
Non-prehensile multi-object rearrangement is a robotic task of planning feasible paths and transferring multiple objects to their predefined target poses without grasping. It needs to consider how each object reaches the target and the…
To enable safe and efficient use of multi-robot systems in everyday life, a robust and fast method for coordinating their actions must be developed. In this paper, we present a distributed task allocation and scheduling algorithm for…
We are interested in pick-and-place style robot manipulation tasks in cluttered and confined 3D workspaces among movable objects that may be rearranged by the robot and may slide, tilt, lean or topple. A recently proposed algorithm, M4M,…
In this work, we delve into the intricate synergy among non-prehensile actions like pushing, and prehensile actions such as grasping and throwing, within the domain of robotic manipulation. We introduce an innovative approach to learning…
We introduce a novel strategy for multi-robot sorting of waste objects using Reinforcement Learning. Our focus lies on finding optimal picking strategies that facilitate an effective coordination of a multi-robot system, subject to…
Task and Motion Planning combines high-level task sequencing (what to do) with low-level motion planning (how to do it) to generate feasible, collision-free execution plans. However, in many real-world domains, such as automated warehouses,…
In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…
In this work, we propose a method for multiple mobile robot motion planning that efficiently plans for robot teams up to 128 robots (an order of magnitude larger than existing state-of-the-art methods) in congested settings with narrow…
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 considers the problem of retrieving an object from many tightly packed objects using a combination of robotic pushing and grasping actions. Object retrieval in dense clutter is an important skill for robots to operate in…
This work addresses the challenge of enabling a team of quadrupedal robots to collaboratively tow a cable-connected load through cluttered and unstructured environments while avoiding obstacles. Leveraging cables allows the multi-robot…
Space robots have played a critical role in autonomous maintenance and space junk removal. Multi-arm space robots can efficiently complete the target capture and base reorientation tasks due to their flexibility and the collaborative…
We investigate the problem of coordinating two robot arms to solve non-monotone tabletop multi-object rearrangement tasks. In a non-monotone rearrangement task, complex object-object dependencies exist that require moving some objects…
Efficient task scheduling in large-scale distributed systems presents significant challenges due to dynamic workloads, heterogeneous resources, and competing quality-of-service requirements. Traditional centralized approaches face…