Related papers: Towards Autonomous Excavation Planning
Construction sites frequently require removing large rocks before excavation or grading can proceed. Human operators typically extract these boulders using only standard digging buckets, avoiding time-consuming tool changes to specialized…
In order to ensure efficient flow of goods in an automated warehouse and to guarantee its continuous distribution to/from picking stations in an effective way, decisions about which goods will be delivered to which particular picking…
Overtaking is one of the most challenging tasks in driving, and the current solutions to autonomous overtaking are limited to simple and static scenarios. In this paper, we present a method for behaviour and trajectory planning for safe…
While Unmanned Aerial Vehicles (UAVs) have gained significant traction across various fields, path planning in 3D environments remains a critical challenge, particularly under size, weight, and power (SWAP) constraints. Traditional modular…
Earthmoving operations with wheel loaders require substantial power and incur high operational costs. This work presents an efficient automation framework based on the Fundamental Earthmoving Equation (FEE) for soil-tool interaction…
Asteroid restructuring uses robotics, self replication, and mechanical automatons to autonomously restructure an asteroid into a large rotating space station. The restructuring process makes structures from asteroid oxide materials; uses…
Modern cyber-physical systems (e.g., robotics systems) are typically composed of physical and software components, the characteristics of which are likely to change over time. Assumptions about parts of the system made at design time may…
In recent decades, global path planning of robot has seen significant advancements. Both heuristic search-based methods and probability sampling-based methods have shown capabilities to find feasible solutions in complex scenarios. However,…
Automated Planning is one of the main research field of Artificial Intelligence since its beginnings. Research in Automated Planning aims at developing general reasoners (i.e., planners) capable of automatically solve complex problems.…
An important capability of autonomous multi-robot systems is to prevent collision among the individual robots. One approach to this problem is to plan conflict-free trajectories and let each of the robots follow its pre-planned trajectory.…
Recent advancements in the field of large language models have made it possible to use language models for advanced reasoning. In this paper we leverage this ability for designing complex project plans based only on knowing the current…
Practical autonomous driving requires models that generalize by reasoning through spatial-temporal possibilities to exclude unsafe outcomes. While state-of-the-art (SOTA) methods use parallel planning architectures, they fail to explicitly…
In this letter, we propose an efficient and highly versatile loco-manipulation planning for humanoid robots. Loco-manipulation planning is a key technological brick enabling humanoid robots to autonomously perform object transportation by…
Mobile autonomous robots have the potential to revolutionize manufacturing processes. However, employing large robot fleets in manufacturing requires addressing challenges including collision-free movement in a shared workspace, effective…
Fast, autonomous flight in unstructured, cluttered environments such as forests is challenging because it requires the robot to compute new plans in realtime on a computationally-constrained platform. In this paper, we enable this…
One of the fundamental limiting factors in planetary exploration is the autonomous capabilities of planetary exploration rovers. This study proposes a novel methodology for trustworthy autonomous multi-robot teams which incorporates data…
Mapping is one of the crucial tasks enabling autonomous navigation of a mobile robot. Conventional mapping methods output a dense geometric map representation, e.g. an occupancy grid, which is not trivial to keep consistent for prolonged…
Recruitment in large organisations often involves interviewing a large number of candidates. The process is resource intensive and complex. Therefore, it is important to carry it out efficiently and effectively. Planning the selection…
Humans, in comparison to robots, are remarkably adept at reaching for objects in cluttered environments. The best existing robot planners are based on random sampling of configuration space -- which becomes excessively high-dimensional with…
In Artificial Intelligence, planning refers to an area of research that proposes to develop systems that can automatically generate a result set, in the form of an integrated decision-making system through a formal procedure, known as plan.…