Related papers: Universal Coating by 3D Hybrid Programmable Matter
Non-flat surfaces pose difficulties for robots operating in unstructured environments. Reconstructions of uneven surfaces may only be partially possible due to non-compliant end-effectors and limitations on vision systems such as…
Given a set of $n\geq 1$ unit disk robots in the Euclidean plane, we consider the fundamental problem of providing mutual visibility to them: the robots must reposition themselves to reach a configuration where they all see each other. This…
Open ad hoc teamwork is the problem of training a single agent to efficiently collaborate with an unknown group of teammates whose composition may change over time. A variable team composition creates challenges for the agent, such as the…
Many robots are not equipped with a manipulator and many objects are not suitable for prehensile manipulation (such as large boxes and cylinders). In these cases, pushing is a simple yet effective non-prehensile skill for robots to interact…
Folding is emerging as a promising manufacturing process to transform flat materials into functional structures, offering efficiency by reducing the need for welding, gluing, and molding, while minimizing waste and enabling automation.…
Many practical problems in almost all scientific and technological disciplines have been classified as computationally hard (NP-hard or even NP-complete). In life sciences, combinatorial optimization problems frequently arise in molecular…
We examine an important combinatorial challenge in clearing clutter using a mobile robot equipped with a manipulator, seeking to compute an optimal object removal sequence for minimizing the task completion time, assuming that each object…
Path planning for robotic coverage is the task of determining a collision-free robot trajectory that observes all points of interest in an environment. Robots employed for such tasks are often capable of exercising active control over…
We introduce a novel method for updating 3D geospatial models, specifically targeting occlusion removal in large-scale maritime environments. Traditional 3D reconstruction techniques often face problems with dynamic objects, like cars or…
Manipulation planning is the task of computing robot trajectories that move a set of objects to their target configuration while satisfying physically feasibility. In contrast to existing works that assume known object templates, we are…
This paper presents a method for constrained motion planning from vision, which enables a robot to move its end-effector over an observed surface, given start and destination points. The robot has no prior knowledge of the surface shape,…
Multi-task learning of deformable object manipulation is a challenging problem in robot manipulation. Most previous works address this problem in a goal-conditioned way and adapt goal images to specify different tasks, which limits the…
Object shape provides important information for robotic manipulation; for instance, selecting an effective grasp depends on both the global and local shape of the object of interest, while reaching into clutter requires accurate surface…
Open-vocabulary panoptic reconstruction is essential for advanced robotics perception and simulation. However, existing methods based on 3D Gaussian Splatting (3DGS) often struggle to simultaneously achieve geometric accuracy, coherent…
We consider the problem of filling an unknown area represented by an arbitrary connected graph of $n$ vertices by mobile luminous robots. In this problem, the robots enter the graph one-by-one through a specific vertex, called the Door, and…
Monocular 3D clothed human reconstruction aims to create a complete 3D avatar from a single image. To tackle the human geometry lacking in one RGB image, current methods typically resort to a preceding model for an explicit geometric…
This work introduces a cooperative inspection system designed to efficiently control and coordinate a team of distributed heterogeneous UAV agents for the inspection of 3D structures in cluttered, unknown spaces. Our proposed approach…
Object placement is a fundamental task for robots, yet it remains challenging for partially observed objects. Existing methods for object placement have limitations, such as the requirement for a complete 3D model of the object or the…
In this paper, we propose a novel semi-autonomous image sampling strategy, called stealthy coverage control, for human-enabled 3D structure reconstruction. The present mission involves a fundamental problem: while the number of images…
Tile displacement is a newly-recognized mechanism in DNA nanotechnology that exploits principles analogous to toehold-mediated strand displacement but within the context of self-assembled DNA origami tile arrays. Here, we formulate an…