Related papers: Task and Motion Planning for Execution in the Real
Designing multi-agent robotic systems requires reasoning across tightly coupled decisions spanning heterogeneous domains, including robot design, fleet composition, and planning. Much effort has been devoted to isolated improvements in…
When faced with an execution failure, an intelligent robot should be able to identify the likely reasons for the failure and adapt its execution policy accordingly. This paper addresses the question of how to utilise knowledge about the…
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…
In this paper, we focus on the problem of task allocation, cooperative path planning and motion coordination of the large-scale system with thousands of robots, aiming for practical applications in robotic warehouses and automated logistics…
Effective human-robot collaboration requires informed anticipation. The robot must anticipate the human's actions, but also react quickly and intuitively when its predictions are wrong. The robot must plan its actions to account for the…
Multi-robot Motion Planning (MRMP) is an active research field which has gained attention over the years. MRMP has significant roles to improve the efficiency and reliability of multi-robot system in a wide range of applications from…
This paper presents a task and motion planning (TAMP) framework for a robotic manipulator in order to retrieve a target object from clutter. We consider a configuration of objects in a confined space with a high density so no collision-free…
Human awareness in robot motion planning is crucial for seamless interaction with humans. Many existing techniques slow down, stop, or change the robot's trajectory locally to avoid collisions with humans. Although using the information on…
Reliably planning fingertip grasps for multi-fingered hands lies as a key challenge for many tasks including tool use, insertion, and dexterous in-hand manipulation. This task becomes even more difficult when the robot lacks an accurate…
We address multi-robot geometric task-and-motion planning (MR-GTAMP) problems in synchronous, monotone setups. The goal of the MR-GTAMP problem is to move objects with multiple robots to goal regions in the presence of other movable…
In collaborative robotic cells, a human operator and a robot share the workspace in order to execute a common job, consisting of a set of tasks. A proper allocation and scheduling of the tasks for the human and for the robot is crucial for…
Task and motion planning problems in robotics combine symbolic planning over discrete task variables with motion optimization over continuous state and action variables. Recent works such as PDDLStream have focused on optimistic planning…
Robotic pick and place stands at the heart of autonomous manipulation. When conducted in cluttered or complex environments robots must jointly reason about the selected grasp and desired placement locations to ensure success. While several…
Robotic dexterous in-hand manipulation, where multiple fingers dynamically make and break contact, represents a step toward human-like dexterity in real-world robotic applications. Unlike learning-based approaches that rely on large-scale…
In this paper, we present a planning system based on semantic reasoning for a general-purpose service robot, which is aimed at behaving more intelligently in domains that contain incomplete information, under-specified goals, and dynamic…
Dynamic task allocation is an essential requirement for multi-robot systems operating in unknown dynamic environments. It allows robots to change their behavior in response to environmental changes or actions of other robots in order to…
Integrating robotic systems in architectural and construction processes is of core interest to increase the efficiency of the building industry. Automated planning for such systems enables design analysis tools and facilitates faster design…
State-of-the-art generalist manipulation policies have enabled the deployment of robotic manipulators in unstructured human environments. However, these frameworks struggle in cluttered environments primarily because they utilize auxiliary…
This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace. Based on the realistic assumptions that each robot is subject to both velocity and input constraints and can have only…
Task and motion planning (TAMP) for robotics manipulation necessitates long-horizon reasoning involving versatile actions and skills. While deterministic actions can be crafted by sampling or optimizing with certain constraints, planning…