Related papers: On the Collaborative Object Transportation Using L…
We present an algorithm that produces a plan for relocating obstacles in order to grasp a target in clutter by a robotic manipulator without collisions. We consider configurations where objects are densely populated in a constrained and…
This paper presents a hybrid control framework for the motion planning of a multi-agent system including N robotic agents and M objects, under high level goals expressed as Linear Temporal Logic (LTL) formulas. In particular, we design…
This paper addresses the problem of cooperative transport of a point mass hoisted by two aerial robots. Treating the robots as a leader and a follower, the follower stabilizes the system with respect to the leader using only feedback from…
Utilizing teams of multiple robots is advantageous for handling bulky objects. Many related works focus on multi-manipulator systems, which are limited by workspace constraints. In this paper, we extend a classical hybrid motion-force…
We consider the problem of an autonomous agent equipped with multiple sensors, each with different sensing precision and energy costs. The agent's goal is to explore the environment and gather information subject to its resource constraints…
This paper addresses the problem of cooperative object transportation for multiple Underwater Vehicle Manipulator Systems (UVMSs) in a constrained workspace involving static obstacles. We propose a Nonlinear Model Predictive Control (NMPC)…
A distributed pose localization framework based on direction measurements is proposed for a type of \textit{leader-follower} multi-agent systems in $\mathbb{R}^3$. The novelty of the proposed localization method lies in the elimination of…
In this paper, we introduce the concept of using passive arm structures with intrinsic impedance for robot-robot and human-robot collaborative carrying with quadruped robots. The concept is meant for a leader-follower task and takes a…
In this study, an adaptive object deformability-agnostic human-robot collaborative transportation framework is presented. The proposed framework enables to combine the haptic information transferred through the object with the human…
This paper addresses the problem of cooperative manipulation of a single object by N robotic agents under local goal specifications given as Metric Interval Temporal Logic (MITL) formulas. In particular, we propose a distributed model-free…
In this paper, we investigate the adaptive control problem for robot manipulators with both the uncertain kinematics and dynamics. We propose two adaptive control schemes to realize the objective of task-space trajectory tracking…
In this paper, we investigate distributed multi-agent tracking of a convex set specified by multiple moving leaders with unmeasurable velocities. Various jointly-connected interaction topologies of the follower agents with uncertainties are…
This paper presents a real-time trajectory planning scheme for a heterogeneous multi-robot system (consisting of a quadrotor and a ground mobile robot) for a cooperative landing task, where the landing position, landing time, and…
During complex object manipulation, manipulator systems often face the configuration disconnectivity problem due to closed-chain constraints. Although regrasping can be adopted to get a piecewise connected manipulation, it is a challenging…
Mobile crowdsourcing refers to systems where the completion of tasks necessarily requires physical movement of crowdworkers in an on-demand workforce. Evidence suggests that in such systems, tasks often get assigned to crowdworkers who…
An effective method for optimizing path planning for a specific model of a 6-degree-of-freedom (6-DOF) robot manipulator is presented as part of the motion planning of the manipulator using computer algebra. We assume that we are given a…
Motion planning in environments with multiple agents is critical to many important autonomous applications such as autonomous vehicles and assistive robots. This paper considers the problem of motion planning, where the controlled agent…
Mobile manipulators consist of a mobile platform equipped with one or more robot arms and are of interest for a wide array of challenging tasks because of their extended workspace and dexterity. Typically, mobile manipulators are deployed…
We consider the problem of tracking a group of mobile nodes with limited available computational and energy resources given noisy RSSI measurements and position estimates from group members. The multilateration solutions are known for…
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…