Related papers: Time-Optimal Path Tracking for Cooperative Manipul…

Accurate grasp force control is one of the key skills for ensuring successful and damage-free robotic grasping of objects. Although existing methods have conducted in-depth research on slip detection and grasping force planning, they often…

We present a reformulation of a contact-implicit optimization (CIO) approach that computes optimal trajectories for rigid-body systems in contact-rich settings. A hard-contact model is assumed, and the unilateral constraints are imposed in…

Most interesting problems in robotics (e.g., locomotion and manipulation) are realized through intermittent contact with the environment. Due to the perception and modeling errors, assuming an exact time for establishing contact with the…

In this paper, we consider the automated planning of optimal paths for a robotic team satisfying a high level mission specification. Each robot in the team is modeled as a weighted transition system where the weights have associated…

Multi-suction-cup grippers are frequently employed to perform pick-and-place robotic tasks, especially in industrial settings where grasping a wide range of light to heavy objects in limited amounts of time is a common requirement. However,…

We consider the problem of retrieving a target object from a confined space by two robotic manipulators where overhand grasps are not allowed. If other movable obstacles occlude the target, more than one object should be relocated to clear…

Many real-world systems often involve physical components or operating environments with highly nonlinear and uncertain dynamics. A number of different control algorithms can be used to design optimal controllers for such systems, assuming…

This work proposes a safety-critical local reactive controller that enables the robot to navigate in unknown and cluttered environments. In particular, the trajectory tracking task is formulated as a constrained polynomial optimization…

In many mobile robotics scenarios, such as drone racing, the goal is to generate a trajectory that passes through multiple waypoints in minimal time. This problem is referred to as time-optimal planning. State-of-the-art approaches either…

In this work, we propose a trajectory generation method for robotic systems with contact force constraint based on optimal control and reachability analysis. Normally, the dynamics and constraints of the contact-constrained robot are…

Robotic grasping of arbitrary objects even in completely known environments still remains a challenging problem. Most previously developed algorithms had focused on fingertip grasp, failing to solve the problem even for fully actuated…

This paper addresses the problem of selecting from a choice of possible grasps, so that impact forces will be minimised if a collision occurs while the robot is moving the grasped object along a post-grasp trajectory. Such considerations…

For the task of moving a set of indistinguishable agents on a connected graph with unit edge distance to an arbitrary set of goal vertices, free of collisions, we propose a fast distance optimal control algorithm that guides the agents into…

We propose a new method for trajectory planning to solve the data harvesting problem. In a two-dimensional mission space, $N$ mobile agents are tasked with the collection of data generated at $M$ stationary sources and delivery to a base…

In this work, we present a method for minimizing the time required for a redundant dual-arm robot to follow a desired relative Cartesian path at constant path speed by optimizing its joint trajectories, subject to position, velocity, and…

We address prehensile pushing, the problem of manipulating a grasped object by pushing against the environment. Our solution is an efficient nonlinear trajectory optimization problem relaxed from an exact mixed integer non-linear trajectory…

In this paper, we address the problem of time-optimal coordination of mobile robots under kinodynamic constraints along specified paths. We propose a novel approach based on time discretization that leads to a mixed-integer linear…

In this paper we present a method for automatically generating optimal robot trajectories satisfying high level mission specifications. The motion of the robot in the environment is modeled as a general transition system, enhanced with…

Autonomous navigation requires robots to generate trajectories for collision avoidance efficiently. Although plenty of previous works have proven successful in generating smooth and spatially collision-free trajectories, their solutions…

Visual observation of objects is essential for many robotic applications, such as object reconstruction and manipulation, navigation, and scene understanding. Machine learning algorithms constitute the state-of-the-art in many fields but…