Related papers: Holistic Construction Automation with Modular Robo…

The automation of robotic tasks requires high precision and adaptability, particularly in force-based operations such as insertions. Traditional learning-based approaches either rely on static datasets, which limit their ability to…

The growing global demand for critical raw materials (CRMs) has highlighted the need to access difficult and hazardous environments such as abandoned underground mines. These sites pose significant challenges for conventional machinery and…

Complex manipulation tasks, such as rearrangement planning of numerous objects, are combinatorially hard problems. Existing algorithms either do not scale well or assume a great deal of prior knowledge about the environment, and few offer…

Faced with complex and unstructured construction environments, wheeled and tracked robots exhibit significant limitations in terrain adaptability and flexibility, making it difficult to meet the requirements of autonomous operation.…

Interest in designing, manufacturing, and using autonomous robots has been rapidly growing during the most recent decade. The main motivation for this interest is the wide range of potential applications these autonomous systems can serve…

Integrating robot systems into manufacturing lines is a time-consuming process. In the era of digitalization, the research and development of new technologies is crucial for improving integration processes. Numerous challenges, including…

The task-specific optimization of robotic systems has long been divided into the optimization of the robot and the optimization of the environment. In this letter, we argue that these two problems are interdependent and should be treated as…

We need intelligent robots for mobile construction, the process of navigating in an environment and modifying its structure according to a geometric design. In this task, a major robot vision and learning challenge is how to exactly achieve…

Robots can provide assistance to a human by moving objects to locations around the person's body. With a well chosen initial configuration, a robot can better reach locations important to an assistive task despite model error, pose…

Modular robotics research has long been preoccupied with perfecting the modules themselves -- their actuation methods, connectors, controls, communication, and fabrication. This inward focus results, in part, from the complexity of the task…

We present parametric trajectory optimization, a method for simultaneously computing physical parameters, actuation requirements, and robot motions for more efficient robot designs. In this scheme, robot dimensions, masses, and other…

This paper presents a closed-loop automation framework for heterogeneous modular robots, covering the full pipeline from morphological construction to adaptive control. In this framework, a mobile manipulator handles heterogeneous…

We introduce and analyze a model for self-reconfigurable robots made up of unit-cube modules. Compared to past models, our model aims to newly capture two important practical aspects of real-world robots. First, modules often do not occupy…

Recent advances in large language models (LLMs) have led to significant progress in robotics, enabling embodied agents to better understand and execute open-ended tasks. However, existing approaches using LLMs face limitations in grounding…

Due to the difficulty of acquiring extensive real-world data, robot simulation has become crucial for parallel training and sim-to-real transfer, highlighting the importance of scalable simulated robotic tasks. Foundation models have…

Robotic systems are multi-dimensional entities, combining both hardware and software, that are heavily dependent on, and influenced by, interactions with the real world. They can be variously categorised as embedded, cyberphysical,…

For a multi-robot system equipped with heterogeneous capabilities, this paper presents a mechanism to allocate robots to tasks in a resilient manner when anomalous environmental conditions such as weather events or adversarial attacks…

To economically deploy robotic manipulators the programming and execution of robot motions must be swift. To this end, we propose a novel, constraint-based method to intuitively specify sequential manipulation tasks and to compute…

Multi-robot task allocation is one of the most fundamental classes of problems in robotics and is crucial for various real-world robotic applications such as search, rescue and area exploration. We consider the Single-Task robots and…

A robotic platform for mobile manipulation needs to satisfy two contradicting requirements for many real-world applications: A compact base is required to navigate through cluttered indoor environments, while the support needs to be large…