Related papers: On the Parameterized Complexity of Motion Planning…
Motion Planning is necessary for robots to complete different tasks. Rapidly-exploring Random Tree (RRT) and its variants have been widely used in robot motion planning due to their fast search in state space. However, they perform not well…
Planning in robotics is often split into task and motion planning. The high-level, symbolic task planner decides what needs to be done, while the motion planner checks feasibility and fills up geometric detail. It is known however that such…
In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…
We consider a problem called task ordering with path uncertainty (TOP-U) where multiple robots are provided with a set of task locations to visit in a bounded environment, but the length of the path between a pair of task locations is…
Natural language is one of the most intuitive ways to express human intent. However, translating instructions and commands towards robotic motion generation and deployment in the real world is far from being an easy task. The challenge of…
We present a unified approach for constraint displacement problems in which a robot finds a feasible path by displacing constraints or obstacles. To this end, we propose a two stage process that returns locally optimal obstacle…
Robots are becoming an increasingly common part of scientific work within laboratory environments. In this paper, we investigate the problem of designing \emph{schedules} for completing a set of tasks at fixed locations with multiple robots…
Robot manipulation in cluttered scenes often requires contact-rich interactions with objects. It can be more economical to interact via non-prehensile actions, for example, push through other objects to get to the desired grasp pose,…
It is necessary for a mobile robot to be able to efficiently plan a path from its starting, or current, location to a desired goal location. This is a trivial task when the environment is static. However, the operational environment of the…
In robotics, coordinating a group of robots is an essential task. This work presents the communication-constrained multi-agent multi-goal path planning problem and proposes a graph-search based algorithm to address this task. Given a fleet…
Arbitrary Pattern Formation is a widely studied problem in autonomous robot systems. The problem asks to design a distributed algorithm that moves a team of autonomous, anonymous and identical mobile robots to form any arbitrary pattern…
When a large collection of objects (e.g., robots, sensors, etc.) has to be deployed in a given environment, it is often required to plan a coordinated motion of the objects from their initial position to a final configuration enjoying some…
Methods for centralized planning of the collision-free trajectories for a fleet of mobile robots typically solve the discretized version of the problem and rely on numerous simplifying assumptions, e.g. moves of uniform duration, cardinal…
In this paper, we deal with the problem of full-body path planning for walking robots. The state of walking robots is defined in multi-dimensional space. Path planning requires defining the path of the feet and the robot's body. Moreover,…
This paper presents a distributed method for robots moving in rigid formations while ensuring probabilistic collision avoidance between the robots. The formation is parametrised through the transformation of a base configuration. The robots…
The rapid advancement of high degree-of-freedom (DoF) serial manipulators necessitates the use of swift, sampling-based motion planners for high-dimensional spaces. While sampling-based planners like the Rapidly-Exploring Random Tree (RRT)…
Assembly of large scale structural systems in space is understood as critical to serving applications that cannot be deployed from a single launch. Recent literature proposes the use of discrete modular structures for in-space assembly and…
Physically disentangling entangled objects from each other is a problem encountered in waste segregation or in any task that requires disassembly of structures. Often there are no object models, and, especially with cluttered irregularly…
Latest research in industrial robotics is aimed at making human robot collaboration possible seamlessly. For this purpose, industrial robots are expected to work on the fly in unstructured and cluttered environments and hence the subject of…
Robotic pick and place tasks are symmetric under translations and rotations of both the object to be picked and the desired place pose. For example, if the pick object is rotated or translated, then the optimal pick action should also…