Related papers: Deformable Object Manipulation With Constraints Us…
Direct collocation methods are powerful tools to solve trajectory optimization problems in robotics. While their resulting trajectories tend to be dynamically accurate, they may also present large kinematic errors in the case of constrained…
Most, if not all, robot navigation systems employ a decomposed planning framework that includes global and local planning. To trade-off onboard computation and plan quality, current systems have to limit all robot dynamics considerations…
Robotic grasp and manipulation taxonomies, inspired by observing human manipulation strategies, can provide key guidance for tasks ranging from robotic gripper design to the development of manipulation algorithms. The existing grasp and…
Industrial robots are widely used in various manufacturing environments due to their efficiency in doing repetitive tasks such as assembly or welding. A common problem for these applications is to reach a destination without colliding with…
Searching for bindings of geometric parameters in task and motion planning (TAMP) is a finite-horizon stochastic planning problem with high-dimensional decision spaces. A robot manipulator can only move in a subspace of its whole range that…
Multi-object tracking (MOT) is the task of estimating the state trajectories of an unknown and time-varying number of objects over a certain time window. Several algorithms have been proposed to tackle the multi-object smoothing task, where…
Coordinated robotic manipulation of deformable linear objects (DLOs), such as ropes and cables, has been widely studied; however, handling hybrid assemblies composed of both deformable and rigid elements in constrained environments remains…
Desktop organization remains challenging for service robots because of heterogeneous objects and diverse manipulation objectives, such as collection and stacking. In this article, a task-oriented framework is presented for organizing planar…
Manipulating three-dimensional (3D) deformable objects presents significant challenges for robotic systems due to their infinite-dimensional state space and complex deformable dynamics. This paper proposes a novel model-free approach for…
This study presents a system integration approach for planning schedules, sequences, tasks, and motions for reconfigurable robots to automatically disassemble constrained structures in a non-destructive manner. Such systems must adapt their…
Path Planning and target searching in a three-dimensional environment is a challenging task in the field of robotics. It is an optimization problem as the path from source to destination has to be optimal. This paper aims to generate a…
Autonomous systems, including robots and drones, face significant challenges when navigating through dynamic environments, particularly within urban settings where obstacles, fluctuating traffic, and pedestrian activity are constantly…
Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on motion planning has followed two main strategies to provide a safe bound on an…
In this paper, we present a learning approach to goal assignment and trajectory planning for unlabeled robots operating in 2D, obstacle-filled workspaces. More specifically, we tackle the unlabeled multi-robot motion planning problem with…
Recent progress in robotic manipulation has dealt with the case of previously unknown objects in the context of relatively simple tasks, such as bin-picking. Existing methods for more constrained problems, however, such as deliberate…
Multi-mobile robot systems show great advantages over one single robot in many applications. However, the robots are required to form desired task-specified formations, making feasible motions decrease significantly. Thus, it is challenging…
In this paper, we introduce a method to deal with the problem of robot local path planning among pushable objects -- an open problem in robotics. In particular, we achieve that by training multiple agents simultaneously in a physics-based…
Modular robots can be tailored to achieve specific tasks and rearranged to achieve previously infeasible ones. The challenge is choosing an appropriate design from a large search space. In this work, we describe a framework that…
Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…
This work proposes a safety-critical local reactive controller that enables the robot to navigate in unknown and cluttered environments. In particular, the trajectory tracking task is formulated as a constrained polynomial optimization…