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Multi-robot teams can achieve more dexterous, complex and heavier payload tasks than a single robot, yet effective collaboration is required. Multi-robot collaboration is extremely challenging due to the different kinematic and dynamics…

Automation applications are pushing the deployment of many high DoF manipulators in warehouse and manufacturing environments. This has motivated many efforts on optimizing manipulation tasks involving a single arm. Coordinating multiple…

We introduce HCLM, a hierarchical framework for general-purpose cooperative loco-manipulation with dual quadrupedal systems. Coordinating multi-robot collaborative manipulation across floating bases is highly challenging due to the…

Multi-robot motion planning (MRMP) is the problem of finding collision-free paths for a set of robots in a continuous state space. The difficulty of MRMP increases with the number of robots and is exacerbated in environments with narrow…

An exciting frontier in robotic manipulation is the use of multiple arms at once. However, planning concurrent motions is a challenging task using current methods. The high-dimensional composite state space renders many well-known motion…

The goal of coordinated multi-robot exploration tasks is to employ a team of autonomous robots to explore an unknown environment as quickly as possible. Compared with human-designed methods, which began with heuristic and rule-based…

Swarm robotics utilises decentralised self-organising systems to form complex collective behaviours built from the bottom-up using individuals that have limited capabilities. Previous work has shown that simple occlusion-based strategies…

Whole-body loco-manipulation for quadruped robots with arms remains a challenging problem, particularly in achieving multi-task control. To address this, we propose MLM, a reinforcement learning framework driven by both real-world and…

This paper proposes a distributed on-orbit spacecraft assembly algorithm, where future spacecraft can assemble modules with different functions on orbit to form a spacecraft structure with specific functions. This form of spacecraft…

In teleoperation, research has mainly focused on target approaching, where we deal with the more challenging object manipulation task by advancing the shared control technique. Appropriately manipulating an object is challenging due to the…

Autonomous robots operating in large knowledgeintensive domains require planning in the discrete (task) space and the continuous (motion) space. In knowledge-intensive domains, on the one hand, robots have to reason at the highestlevel, for…

Purpose of review: Recent advances in sensing, actuation, and computation have opened the door to multi-robot systems consisting of hundreds/thousands of robots, with promising applications to automated manufacturing, disaster relief,…

Enforcing balance of multi-limbed robots in multiple non-coplanar unilateral contact settings is challenging when a subset of such contacts are also induced in motion tasks. The first contribution of this paper is in enhancing the…

This paper presents the first active object mapping framework for complex robotic manipulation and autonomous perception tasks. The framework is built on an object SLAM system integrated with a simultaneous multi-object pose estimation…

Humans show specialized strategies for efficient collaboration. Transferring similar strategies to humanoid robots can improve their capability to interact with other agents, leading the way to complex collaborative scenarios with multiple…

Aerial manipulators based on conventional multirotors can conduct manipulation only in small roll and pitch angles due to the underactuatedness of the multirotor base. If the multirotor base is capable of hovering at arbitrary orientation,…

Dual-arm robots play a crucial role in improving efficiency and flexibility in complex multitasking scenarios. While existing methods have achieved promising results in task planning, they often fail to fully optimize task parallelism,…

Human-robot cooperation is essential in environments such as warehouses and retail stores, where workers frequently handle deformable objects like paper, bags, and fabrics. Coordinating robotic actions with human assistance remains…

Automated bin-picking is a prerequisite for fully automated manufacturing and warehouses. To successfully pick an item from an unstructured bin the robot needs to first detect possible grasps for the objects, decide on the object to remove…

Multi-robot control in cluttered environments is a challenging problem that involves complex physical constraints, including robot-robot collisions, robot-obstacle collisions, and unreachable motions. Successful planning in such settings…