Related papers: Mobile Manipulation Planning for Tabletop Rearrang…
Object rearrangement in a multi-room setup should produce a reasonable plan that reduces the agent's overall travel and the number of steps. Recent state-of-the-art methods fail to produce such plans because they rely on explicit…
We present an algorithm determining where to relocate objects inside a cluttered and confined space while rearranging objects to retrieve a target object. Although methods that decide what to remove have been proposed, planning for the…
We are interested in pick-and-place style robot manipulation tasks in cluttered and confined 3D workspaces among movable objects that may be rearranged by the robot and may slide, tilt, lean or topple. A recently proposed algorithm, M4M,…
Non-prehensile multi-object rearrangement is a robotic task of planning feasible paths and transferring multiple objects to their predefined target poses without grasping. It needs to consider how each object reaches the target and the…
In warehouse and manufacturing environments, manipulation platforms are frequently deployed at conveyor belts to perform pick and place tasks. Because objects on the conveyor belts are moving, robots have limited time to pick them up. This…
Dynamic job shop scheduling, a fundamental combinatorial optimisation problem in various industrial sectors, poses substantial challenges for effective scheduling due to frequent disruptions caused by the arrival of new jobs.…
Task planning and motion planning are two of the most important problems in robotics, where task planning methods help robots achieve high-level goals and motion planning methods maintain low-level feasibility. Task and motion planning…
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…
Recent interest in mobile manipulation has resulted in a wide range of new robot designs. A large family of these designs focuses on modular platforms that combine existing mobile bases with static manipulator arms. They combine these…
We present a new Monte Carlo Tree Search (MCTS) algorithm to solve the stochastic orienteering problem with chance constraints, i.e., a version of the problem where travel costs are random, and one is assigned a bound on the tolerable…
Adaptive sampling and planning in robotic environmental monitoring are challenging when the target environmental process varies over space and time. The underlying environmental dynamics require the planning module to integrate future…
A Robotic Mobile Fulfillment System is a robotised parts-to-picker system that is particularly well-suited for e-commerce warehousing. One distinguishing feature of this type of warehouse is its high storage modularity. Numerous robots are…
In an environment where a manipulator needs to execute multiple consecutive tasks, the act of object manoeuvre will change the underlying configuration space, affecting all subsequent tasks. Previously free configurations might now be…
Legged robots can pass through complex field environments by selecting gaits and discrete footholds carefully. Traditional methods plan gait and foothold separately and treat them as the single-step optimal process. However, such processing…
Robots have become increasingly prevalent in dynamic and crowded environments such as airports and shopping malls. In these scenarios, the critical challenges for robot navigation are reliability and timely arrival at predetermined…
Autonomous mobile robots enable increased flexibility of manufacturing systems. The design and operating strategy of such a fleet of robots requires careful consideration of both fixed and operational costs. In this paper, a Monte-Carlo…
Monte Carlo Tree Search (MCTS) is particularly adapted to domains where the potential actions can be represented as a tree of sequential decisions. For an effective action selection, MCTS performs many simulations to build a reliable tree…
We introduce a novel approach to the executable semantic object rearrangement problem. In this challenge, a robot seeks to create an actionable plan that rearranges objects within a scene according to a pattern dictated by a natural…
The integration of autonomous vehicles into urban and highway environments necessitates the development of robust and adaptable behavior planning systems. This study presents an innovative approach to address this challenge by utilizing a…
The increasing use of autonomous robot systems in hazardous environments underscores the need for efficient search and rescue operations. Despite significant advancements, existing literature on object search often falls short in overcoming…