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In order to ensure efficient flow of goods in an automated warehouse and to guarantee its continuous distribution to/from picking stations in an effective way, decisions about which goods will be delivered to which particular picking…
The growing deployment of human-robot collaborative processes in several industrial applications, such as handling, welding, and assembly, unfolds the pursuit of systems which are able to manage large heterogeneous teams and, at the same…
This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace. Based on the realistic assumptions that each robot is subject to both velocity and input constraints and can have only…
Continuum robots, characterized by their high flexibility and infinite degrees of freedom (DoFs), have gained prominence in applications such as minimally invasive surgery and hazardous environment exploration. However, the intrinsic…
Multi-robot path planning is a computational process involving finding paths for each robot from its start to the goal while ensuring collision-free operation. It is widely used in robots and autonomous driving. However, the computational…
In post-disaster scenarios, efficient search and rescue operations involve collaborative efforts between robots and humans. Existing planning approaches focus on specific aspects but overlook crucial elements like information gathering,…
This paper presents a novel hierarchical motion planning approach based on Rapidly-Exploring Random Trees (RRT) for global planning and Model Predictive Control (MPC) for local planning. The approach targets a three-wheeled cycle rickshaw…
This work aims to leverage instructional video to solve complex multi-step task-and-motion planning tasks in robotics. Towards this goal, we propose an extension of the well-established Rapidly-Exploring Random Tree (RRT) planner, which…
The rapid growth of online retail and e-commerce has made effective and efficient Vehicle Routing Problem (VRP) solutions essential. To meet rising demand, companies are adding more depots, which changes the VRP problem to a complex…
We propose a new formulation for the multi-robot task allocation problem that incorporates (a) complex precedence relationships between tasks, (b) efficient intra-task coordination, and (c) cooperation through the formation of robot…
We investigate the capacitated vehicle routing problem (CVRP) under a robotics context, where a vehicle with limited payload must complete delivery (or pickup) tasks to serve a set of geographically distributed customers with varying…
We present a centralized algorithmic framework for solving multi-robot path planning problems in general, two-dimensional, continuous environments while minimizing globally the task completion time. The framework obtains high levels of…
Coordinated multi-robot motion planning at intersections is key for safe mobility in roads, factories and warehouses. The rapidly exploring random tree (RRT) algorithms are popular in multi-robot motion planning. However, generating the…
As humanoid robots enter real-world environments, ensuring robust locomotion across diverse environments is crucial. This paper presents a computationally efficient hierarchical control framework for humanoid robot locomotion based on…
With aggressively shrinking process nodes, physical design methods face severe challenges due to poor convergence and uncertainty in getting an optimal solution. An early detection of potential failures is thus mandated. This has encouraged…
Achieving long-term autonomy for mobile robots operating in real-world unstructured environments such as farms remains a significant challenge. This is made increasingly complex in the presence of moving humans or livestock. These…
This paper introduces a centralized approach for fuel-efficient urban platooning by leveraging real-time Vehicle- to-Everything (V2X) communication and Signal Phase and Timing (SPaT) data. A nonlinear Model Predictive Control (MPC)…
Cooperative object transportation using multiple robots has been intensively studied in the control and robotics literature, but most approaches are either only applicable to omnidirectional robots or lack a complete navigation and…
Multi-robot navigation in unknown, structurally constrained, and GPS-denied environments presents a fundamental trade-off between global strategic foresight and local tactical agility, particularly under limited communication. Centralized…
Electric Vehicles (EVs) are becoming increasingly prevalent nowadays, with studies highlighting their potential as mobile energy storage systems to provide grid support. Realising this potential requires effective charging coordination,…