Related papers: Large-Scale Multi-Robot Assembly Planning for Auto…
The intricate and multi-stage task in dynamic public spaces like luggage trolley collection in airports presents both a promising opportunity and an ongoing challenge for automated service robots. Previous research has primarily focused on…
The deployment of mobile robots for material handling in industrial environments requires scalable coordination of large fleets in dynamic settings. This paper presents a two-layer framework that combines high-level scheduling with…
Part assembly is a typical but challenging task in robotics, where robots assemble a set of individual parts into a complete shape. In this paper, we develop a robotic assembly simulation environment for furniture assembly. We formulate the…
Robotic assembly for high-mixture settings requires adaptivity to diverse parts and poses, which is an open challenge. Meanwhile, in other areas of robotics, large models and sim-to-real have led to tremendous progress. Inspired by such…
We study the computational complexity of optimally solving multi-robot path planning problems on planar graphs. For four common time- and distance-based objectives, we show that the associated path optimization problems for multiple robots…
This paper presents the design concept, modeling and motion planning solution for the aerial robotic chain. This design represents a configurable robotic system of systems, consisting of multi-linked micro aerial vehicles that…
Modern lightweight dual-arm robots bring the physical capabilities to quickly take over tasks at typical industrial workplaces designed for workers. In times of mass-customization, low setup times including the instructing/specifying of new…
In manufacturing, the increasing involvement of autonomous robots in production processes poses new challenges on the production management. In this paper we report on the usage of Optimization Modulo Theories (OMT) to solve certain…
Recent technological innovations in the areas of additive manufacturing and collaborative robotics have paved the way toward realizing the concept of on-demand, personalized production on the shop floor. Additive manufacturing process can…
We present a versatile framework for the computational co-design of legged robots and dynamic maneuvers. Current state-of-the-art approaches are typically based on random sampling or concurrent optimization. We propose a novel bilevel…
We present a novel mission-planning strategy for heterogeneous multi-robot teams, taking into account the specific constraints and capabilities of each robot. Our approach employs hierarchical trees to systematically break down complex…
This paper proposes a new optimal control synthesis algorithm for multi-robot systems under global temporal logic tasks. Existing planning approaches under global temporal goals rely on graph search techniques applied to a product automaton…
The automation of internal logistics and inventory-related tasks is one of the main challenges of modern-day manufacturing corporations since it allows a more effective application of their human resources. Nowadays, Autonomous Mobile…
Motion planning with simple objectives, such as collision-avoidance and goal-reaching, can be solved efficiently using modern planners. However, the complexity of the allowed tasks for these planners is limited. On the other hand, signal…
We consider the problem of coordinating a fleet of robots in a warehouse so as to maximize the reward achieved within a time limit while respecting problem and robot specific constraints. We formulate the problem as a weighted set packing…
We study the problem of planning collision-free paths for a group of homogeneous robots. We propose a novel approach for turning the paths that were planned egocentrically by the robots, e.g. without taking other robots' moves into account,…
We consider the problem of completing a set of $n$ tasks with a human-robot team using minimum effort. In many domains, teaching a robot to be fully autonomous can be counterproductive if there are finitely many tasks to be done. Rather,…
Modern robotic manufacturing requires collision-free coordination of multiple robots to complete numerous tasks in shared, obstacle-rich workspaces. Although individual tasks may be simple in isolation, automated joint task allocation,…
A common task in robotics is unloading identical goods from a tray with rectangular grid structure. This naturally leads to the idea of programming the process at one grid position only and translating the motion to the other grid points,…
Computation load-sharing across a network of heterogeneous robots is a promising approach to increase robots capabilities and efficiency as a team in extreme environments. However, in such environments, communication links may be…