Related papers: K-ARC: Adaptive Robot Coordination for Multi-Robot…

Autonomous navigation has played an increasingly significant role in quadruped robot system. However, most existing works on quadruped robots navigation using traditional search-based or sample-based methods do not consider the kinodynamic…

To safely traverse non-flat terrain, robots must account for the influence of terrain shape in their planned motions. Terrain-aware motion planners use an estimate of the vehicle roll and pitch as a function of pose, vehicle suspension, and…

Multi-robot motion planning for high degree-of-freedom manipulators in shared, constrained, and narrow spaces is a complex problem and essential for many scenarios such as construction, surgery, and more. Traditional coupled methods plan…

Sampling-based motion planning algorithms such as RRT* are well-known for their ability to quickly find an initial solution and then converge to the optimal solution asymptotically. However, the convergence rate can be slow for…

Multi-Agent Motion Planning (MAMP) finds various applications in fields such as traffic management, airport operations, and warehouse automation. In many of these environments, differential drive robots are commonly used. These robots have…

We present a multi-robot task and motion planning method that, when applied to the rearrangement of objects by manipulators, results in solution times up to three orders of magnitude faster than existing methods and successfully plans for…

This paper addresses motion replanning in human-robot collaborative scenarios, emphasizing reactivity and safety-compliant efficiency. While existing human-aware motion planners are effective in structured environments, they often struggle…

Modern cyber-physical systems (e.g., robotics systems) are typically composed of physical and software components, the characteristics of which are likely to change over time. Assumptions about parts of the system made at design time may…

Deploying a team of robots that can carefully coordinate their actions can make the entire system robust to individual failures. In this report, we review recent algorithmic development in making multi-robot systems robust to environmental…

Achieving persistent tracking of multiple dynamic targets over a large spatial area poses significant challenges for a single-robot system with constrained sensing capabilities. As the robot moves to track different targets, the ones…

Humanoid robots often face significant balance issues due to the motion of their heavy limbs. These challenges are particularly pronounced when attempting dynamic motion or operating in environments with irregular terrain. To address this…

In order for cooperative robots ("co-robots") to respond to human behaviors accurately and efficiently in human-robot collaboration, interpretation of human actions, awareness of new situations, and appropriate decision making are all…

Developing autonomous off-road mobility typically requires either extensive, platform-specific data collection or relies on simplified abstractions, such as unicycle or bicycle models, that fail to capture the complex kinodynamics of…

Intelligent robots provide a new insight into efficiency improvement in industrial and service scenarios to replace human labor. However, these scenarios include dense and dynamic obstacles that make motion planning of robots challenging.…

Human motion provides rich priors for training general-purpose humanoid control policies, but raw demonstrations are often incompatible with a robot's kinematics and dynamics, limiting their direct use. We present a two-stage pipeline for…

A cuspidal robot can move from one inverse kinematics (IK) solution to another without crossing a singularity. Multiple industrial robots are cuspidal. They tend to have a beautiful mechanical design, but they pose path planning challenges.…

Mobile robot motion planners rely on theoretical models to predict how the robot will move through the world. However, when deployed on a physical robot, these models are subject to errors due to real-world physics and uncertainty in how…

For many tasks, multi-robot teams often provide greater efficiency, robustness, and resiliency. However, multi-robot collaboration in real-world scenarios poses a number of major challenges, especially when dynamic robots must balance…

We address multi-robot motion planning under Signal Temporal Logic (STL) specifications with kinodynamic constraints. Exact approaches face scalability bottlenecks and limited adaptability, while conventional sampling-based methods require…

Effective robotic systems for long-horizon human-robot collaboration must adapt to a wide range of human partners, whose physical behavior, willingness to assist, and understanding of the robot's capabilities may change over time. This…