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One major recurring challenge in deploying manipulation robots is determining the optimal placement of manipulators to maximize performance. This challenge is exacerbated in complex, cluttered agricultural environments of high-value crops,…
This paper explores general multi-robot task and motion planning, where multiple robots in close proximity manipulate objects while satisfying constraints and a given goal. In particular, we formulate the plan refinement problem--which,…
This paper presents a hierarchical motion planner for planning the manipulation motion to repose long and heavy objects considering external support surfaces. The planner includes a task level layer and a motion level layer. We formulate…
Tree fruit growers around the world are facing labor shortages for critical operations, including harvest and pruning. There is a great interest in developing robotic solutions for these labor-intensive tasks, but current efforts have been…
Multi-mode resource and precedence-constrained project scheduling is a well-known challenging real-world optimisation problem. An important variant of the problem requires scheduling of activities for multiple projects considering…
We present Fast-dRRT*, a sampling-based multi-robot planner, for real-time industrial automation scenarios. Fast-dRRT* builds upon the discrete rapidly-exploring random tree (dRRT*) planner, and extends dRRT* by using pre-computed swept…
Described here is a simple, reliable, and quite general method for rapid computation of robot arm inverse kinematic solutions and motion path plans in the presence of complex obstructions. The method derived from the MSC (map-seeking…
This paper introduces a framework to plan grasps with multi-fingered hands. The framework includes a multi-dimensional iterative surface fitting (MDISF) for grasp planning and a grasp trajectory optimization (GTO) for grasp imagination. The…
Most existing robotic harvesters utilize a unimanual approach; a single arm grasps the crop and detaches it, either via a detachment movement, or by cutting its stem with a specially designed gripper/cutter end-effector. However, such…
This paper develops intelligent algorithms for robots to reorient objects. Given the initial and goal poses of an object, the proposed algorithms plan a sequence of robot poses and grasp configurations that reorient the object from its…
We present a method to apply heuristic search algorithms to solve rearrangement planning by pushing problems. In these problems, a robot must push an object through clutter to achieve a goal. To do this, we exploit the fact that contact…
Coordinating agents to complete a set of tasks with intercoupled temporal and resource constraints is computationally challenging, yet human domain experts can solve these difficult scheduling problems using paradigms learned through years…
In order to solve complex, long-horizon tasks, intelligent robots need to carry out high-level, abstract planning and reasoning in conjunction with motion planning. However, abstract models are typically lossy and plans or policies computed…
In this paper, we present the lessons learnt during the development of a new robotic harvester (Harvey) that can autonomously harvest sweet pepper (capsicum) in protected cropping environments. Robotic harvesting offers an attractive…
An algorithm for robot formation path planning is presented in this paper. Given a map of the working environment, the algorithm finds a path for a formation taking into account possible split of the formation and its consecutive merge. The…
This paper presents an autonomous tomato-harvesting system built around a hybrid robotic gripper that combines six soft auxetic fingers with a rigid exoskeleton and a latex basket to achieve gentle, cage-like grasping. The gripper is driven…
Rising global food demand and harsh working conditions make fruit harvest an important domain to automate. Peduncle localization is an important step for any automated fruit harvesting system, since fruit separation techniques are highly…
This work addresses the uniform parallel machine scheduling problem within an optimistic bilevel optimization framework. The leader seeks to minimize the weighted number of tardy jobs, while the follower aims to minimize the total…
Multi-robot assembly systems are becoming increasingly appealing in manufacturing due to their ability to automatically, flexibly, and quickly construct desired structural designs. However, effectively planning for these systems in a manner…
Generating high-quality motion plans for multiple robot arms is challenging due to the high dimensionality of the system and the potential for inter-arm collisions. Traditional motion planning methods often produce motions that are…