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The goal of this paper is to develop efficient regrasp algorithms for single-arm and dual-arm regrasp and compares the performance of single-arm and dual-arm regrasp by running the two algorithms thousands of times. We focus on…
In response to the growing challenges of manual labor and efficiency in warehouse operations, Amazon has embarked on a significant transformation by incorporating robotics to assist with various tasks. While a substantial number of robots…
Field robotic harvesting is a promising technique in recent development of agricultural industry. It is vital for robots to recognise and localise fruits before the harvesting in natural orchards. However, the workspace of harvesting robots…
This work focuses on the dual-arm object rearrangement problem abstracted from a realistic industrial scenario of Cartesian robots. The goal of this problem is to transfer all the objects from sources to targets with the minimum total…
Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…
Robotic assembly planning enables architects to explicitly account for the assembly process during the design phase, and enables efficient building methods that profit from the robots' different capabilities. Previous work has addressed…
This paper proposes an analytical framework for modelling resource contention in multi-robot systems, where the travel times and task durations are uncertain. It uses several approximation methods to quickly and accurately calculate the…
Humans seamlessly fuse anticipatory planning with immediate feedback to perform successive mobile manipulation tasks without stopping, achieving both high efficiency and reliability. Replicating this fluid and reliable behavior in robots…
Computationally tractable methods are developed for centralized goal assignment and planning of collision-free polynomial-in-time trajectories for systems of multiple aerial robots. The method first assigns robots to goals to minimize total…
Autonomous crop monitoring is a difficult task due to the complex structure of plants. Occlusions from leaves can make it impossible to obtain complete views about all fruits of, e.g., pepper plants. Therefore, accurately estimating the…
In this work, we explore how conventional motion planning algorithms can be reapplied to contact-rich manipulation tasks. Rather than focusing solely on efficiency, we investigate how manipulation aspects can be recast in terms of…
In recent years, there has been a significant effort dedicated to developing efficient, robust, and general human-to-robot handover systems. However, the area of flexible handover in the context of complex and continuous objects' motion…
This paper focuses on the motion planning problem for the systems exhibiting both continuous and discrete behaviors, which we refer to as hybrid dynamical systems. Firstly, the motion planning problem for hybrid systems is formulated using…
Horticultural tasks such as pruning and selective harvesting are labor intensive and horticultural staff are hard to find. Automating these tasks is challenging due to the semi-structured greenhouse workspaces, changing environmental…
We present a fast algorithm for the design of smooth paths (or trajectories) that are constrained to lie in a collection of axis-aligned boxes. We consider the case where the number of these safe boxes is large, and basic preprocessing of…
This paper addresses the scarcity of low-cost but high-dexterity platforms for collecting real-world multi-fingered robot manipulation data towards generalist robot autonomy. To achieve it, we propose the RAPID Hand, a co-optimized hardware…
Planning motions for two robot arms to move an object collaboratively is a difficult problem, mainly because of the closed-chain constraint, which arises whenever two robot hands simultaneously grasp a single rigid object. In this paper, we…
Fruit monitoring plays an important role in crop management, and rising global fruit consumption combined with labor shortages necessitates automated monitoring with robots. However, occlusions from plant foliage often hinder accurate shape…
This paper presents a collection of path planning algorithms for real-time movement of multiple robots across a Robotic Mobile Fulfillment System (RMFS). Robots are assigned to move storage units to pickers at working stations instead of…
Sampling based methods are widely used for robotic motion planning. Traditionally, these samples are drawn from probabilistic ( or deterministic ) distributions to cover the state space uniformly. Despite being probabilistically complete,…