Related papers: PuSHR: A Multirobot System for Nonprehensile Rearr…
Manipulation of large objects over long horizons (such as carts in a warehouse) is an essential skill for deployable robotic systems. Large objects require mobile manipulation which involves simultaneous manipulation, navigation, and…
Rearrangement tasks have been identified as a crucial challenge for intelligent robotic manipulation, but few methods allow for precise construction of unseen structures. We propose a visual foresight model for pick-and-place rearrangement…
This paper presents a novel planning method that achieves navigation of multi-robot formations in cluttered environments, while maintaining the formation throughout the robots motion. The method utilises a decentralised approach to find…
In this paper, we present a solution to the problem of coordinating multiple robots across a communication channel that experiences delays. The proposed approach leverages control barrier functions in order to ensure that the multi-robot…
Object rearrangement is a widely-applicable and challenging task for robots. Geometric constraints must be carefully examined to avoid collisions and combinatorial issues arise as the number of objects increases. This work studies the…
In this work, we address a planar non-prehensile sorting task. Here, a robot needs to push many densely packed objects belonging to different classes into a configuration where these classes are clearly separated from each other. To achieve…
We present DeepClaw as a reconfigurable benchmark of robotic hardware and task hierarchy for robot learning. The DeepClaw benchmark aims at a mechatronics perspective of the robot learning problem, which features a minimum design of robot…
In robotics, data acquisition often plays a key part in unknown environment exploration. For example, storing information about the topography of the explored terrain or the natural dangers in the environment can inform the decision-making…
Payload transport over flat terrain via multi-wheel robot carriers is well-understood, highly effective, and configurable. In this paper, our goal is to provide similar effectiveness and configurability for transport over rough terrain that…
While natural systems often present collective intelligence that allows them to self-organize and adapt to changes, the equivalent is missing in most artificial systems. We explore the possibility of such a system in the context of…
We present MuSHR, the Multi-agent System for non-Holonomic Racing. MuSHR is a low-cost, open-source robotic racecar platform for education and research, developed by the Personal Robotics Lab in the Paul G. Allen School of Computer Science…
Recent progress in robotic manipulation has dealt with the case of previously unknown objects in the context of relatively simple tasks, such as bin-picking. Existing methods for more constrained problems, however, such as deliberate…
In this work, we consider the problem of decentralized multi-robot target tracking and obstacle avoidance in dynamic environments. Each robot executes a local motion planning algorithm which is based on model predictive control (MPC). The…
To solve multi-step manipulation tasks in the real world, an autonomous robot must take actions to observe its environment and react to unexpected observations. This may require opening a drawer to observe its contents or moving an object…
Assembly of large scale structural systems in space is understood as critical to serving applications that cannot be deployed from a single launch. Recent literature proposes the use of discrete modular structures for in-space assembly and…
We present a new algorithm for deploying passenger robots in marsupial robot systems. A marsupial robot system consists of a carrier robot (e.g., a ground vehicle), which is highly capable and has a long mission duration, and at least one…
This paper presents a comprehensive methodology for modeling an on-orbit assembly mission scenario of a large flexible structure using a multi-arm robot. This methodology accounts for significant changes in inertia and flexibility…
Robotic grasping in densely cluttered environments is challenging due to scarce collision-free grasp affordances. Non-prehensile actions can increase feasible grasps in cluttered environments, but most research focuses on single-arm rather…
Safe motion planning algorithms are necessary for deploying autonomous robots in unstructured environments. Motion plans must be safe to ensure that the robot does not harm humans or damage any nearby objects. Generating these motion plans…
Marsupial robot teams consist of carrier robots that transport and deploy multiple passenger robots, such as a team of ground robots that carry and deploy multiple aerial robots, to rapidly explore complex environments. We specifically…