Related papers: Planning for Complex Non-prehensile Manipulation A…
This paper presents a planning algorithm designed to improve cooperative robot behavior concerning human comfort during forceful human-robot physical interaction. Particularly, we are interested in planning for object grasping and…
In this paper, a novel hybrid multi-robot motion planner that can be applied under non-communication and local observable conditions is presented. The planner is model-free and can realize the end-to-end mapping of multi-robot state and…
Autonomous robotic arm manipulators have the potential to make planetary exploration and in-situ resource utilization missions more time efficient and productive, as the manipulator can handle the objects itself and perform goal-specific…
Dexterous in-hand manipulation in robotics, particularly with multi-fingered robotic hands, poses significant challenges due to the intricate avoidance of collisions among fingers and the object being manipulated. Collision-free paths for…
We consider the online planning problem for a team of agents to discover and track an unknown and time-varying number of moving objects from onboard sensor measurements with uncertain measurement-object origins. Since the onboard sensors…
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…
Active search, in applications like environment monitoring or disaster response missions, involves autonomous agents detecting targets in a search space using decision making algorithms that adapt to the history of their observations.…
As legged robots take on roles in industrial and autonomous construction, collaborative loco-manipulation is crucial for handling large and heavy objects that exceed the capabilities of a single robot. However, ensuring the safety of these…
Several planners have been proposed to compute robot paths that reach desired goal regions while avoiding obstacles. However, these methods fail when all pathways to the goal are blocked. In such cases, the robot must reason about how to…
Large Language Models (LLMs) have demonstrated remarkable planning abilities across various domains, including robotics manipulation and navigation. While recent efforts in robotics have leveraged LLMs both for high-level and low-level…
The ability to wield tools was once considered exclusive to human intelligence, but it's now known that many other animals, like crows, possess this capability. Yet, robotic systems still fall short of matching biological dexterity. In this…
Despite its importance in both industrial and service robotics, mobile manipulation remains a significant challenge as it requires a seamless integration of end-effector trajectory generation with navigation skills as well as reasoning over…
Models used in modern planning problems to simulate outcomes of real world action executions are becoming increasingly complex, ranging from simulators that do physics-based reasoning to precomputed analytical motion primitives. However,…
We present an algorithm determining where to relocate objects inside a cluttered and confined space while rearranging objects to retrieve a target object. Although methods that decide what to remove have been proposed, planning for the…
Motion planning is a key tool that allows robots to navigate through an environment without collisions. The problem of robot motion planning has been studied in great detail over the last several decades, with researchers initially focusing…
Autonomous robots operating in large knowledgeintensive domains require planning in the discrete (task) space and the continuous (motion) space. In knowledge-intensive domains, on the one hand, robots have to reason at the highestlevel, for…
Socially-aware robotic navigation is essential in environments where humans and robots coexist, ensuring both safety and comfort. However, most existing approaches have been primarily developed for mobile robots, leaving a significant gap…
Navigation has been classically solved in robotics through the combination of SLAM and planning. More recently, beyond waypoint planning, problems involving significant components of (visual) high-level reasoning have been explored in…
Motion prediction is crucial in enabling safe motion planning for autonomous vehicles in interactive scenarios. It allows the planner to identify potential conflicts with other traffic agents and generate safe plans. Existing motion…
Using a deformable sheet to handle objects is convenient and found in many practical applications. For object manipulation through a deformable sheet that is held by multiple mobile robots, it is a challenging task to model the object-sheet…