Related papers: D-RMGPT: Robot-assisted collaborative tasks driven…
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…
The growing deployment of human-robot collaborative processes in several industrial applications, such as handling, welding, and assembly, unfolds the pursuit of systems which are able to manage large heterogeneous teams and, at the same…
The integration of large language models (LLMs) with robotics has significantly advanced robots' abilities in perception, cognition, and task planning. The use of natural language interfaces offers a unified approach for expressing the…
This paper introduces collaborating robots which provide the possibility of enhanced task performance, high reliability and decreased. Collaborating-bots are a collection of mobile robots able to self-assemble and to self-organize in order…
Manufacturing assembly tasks can vary in complexity and level of automation. Yet, achieving full automation can be challenging and inefficient, particularly due to the complexity of certain assembly operations. Human-robot collaborative…
Human-Robot Collaboration (HRC) plays an important role in assembly tasks by enabling robots to plan and adjust their motions based on interactive, real-time human instructions. However, such instructions are often linguistically ambiguous…
Multi-robot task planning and collaboration are critical challenges in robotics. While Behavior Trees (BTs) have been established as a popular control architecture and are plannable for a single robot, the development of effective…
This paper proposes a task planning framework for collaborative Human-Robot scenarios, specifically focused on assembling complex systems such as furniture. The human is characterized as an uncontrollable agent, implying for example that…
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…
Recent progress in robot autonomy and safety has significantly improved human-robot interactions, enabling robots to work alongside humans on various tasks. However, complex assembly tasks still present significant challenges due to…
Large Language Model (LLM)-based robotic assembly assistance has gained significant research attention. It requires the injection of domain-specific knowledge to guide the assembly process through natural language interaction with humans.…
In recent years, the integration of large language models (LLMs) has revolutionized the field of robotics, enabling robots to communicate, understand, and reason with human-like proficiency. This paper explores the multifaceted impact of…
Robot design is a nontrivial process that involves careful consideration of multiple criteria, including user specifications, kinematic structures, and visual appearance. Therefore, the design process often relies heavily on domain…
Self-assembly enables multi-robot systems to merge diverse capabilities and accomplish tasks beyond the reach of individual robots. Incorporating varied docking mechanisms layouts (DMLs) can enhance robot versatility or reduce costs.…
Compared with the widely investigated homogeneous multi-robot collaboration, heterogeneous robots with different capabilities can provide a more efficient and flexible collaboration for more complex tasks. In this paper, we consider a more…
Recent research on Large Language Models (LLMs) has led to remarkable advancements in general NLP AI assistants. Some studies have further explored the use of LLMs for planning and invoking models or APIs to address more general multi-modal…
There is invariably a trade-off between safety and efficiency for collaborative robots (cobots) in human-robot collaborations. Robots that interact minimally with humans can work with high speed and accuracy but cannot adapt to new tasks or…
Flexible manufacturing requires robot systems that can adapt to constantly changing tasks, objects, and environments. However, traditional robot programming is labor-intensive and inflexible, while existing learning-based assembly methods…
This paper introduces DroidBot-GPT, a tool that utilizes GPT-like large language models (LLMs) to automate the interactions with Android mobile applications. Given a natural language description of a desired task, DroidBot-GPT can…
Large Language Models (LLMs) are increasingly being used as autonomous agents capable of performing complicated tasks. However, they lack the ability to perform reliable long-horizon planning on their own. This paper bridges this gap by…