Related papers: ORB: Operating Room Bot, Automating Operating Room…
A robot operating in a household makes observations of multiple objects as it moves around over the course of days or weeks. The objects may be moved by inhabitants, but not completely at random. The robot may be called upon later to…
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…
To enable a natural and fluent human robot collaboration flow, it is critical for a robot to comprehend their human peers' on-going actions, predict their behaviors in the near future, and plan its actions correspondingly. Specifically, the…
Bagging tasks, commonly found in industrial scenarios, are challenging considering deformable bags' complicated and unpredictable nature. This paper presents an automated bagging system from the proposed adaptive Structure-of-Interest (SOI)…
Today, mobile robots are expected to carry out increasingly complex tasks in multifarious, real-world environments. Often, the tasks require a certain semantic understanding of the workspace. Consider, for example, spoken instructions from…
Industrial manipulators have extensively collaborated with human operators to execute tasks, e.g., disassembly of end-of-use products, in intelligent remanufacturing. A safety task execution requires real-time path planning for the…
We develop an algorithm for the motion and task planning of a system comprised of multiple robots and unactuated objects under tasks expressed as Linear Temporal Logic (LTL) constraints. The robots and objects evolve subject to uncertain…
Collaborative space robots are an emerging technology with high impact as robots facilitate servicing functions in collaboration with astronauts with higher precision during lengthy tasks, under tight operational schedules, with less risk…
Industrial warehouses are congested with moving forklifts, shelves and personnel, making robot teleoperation particularly risky and demanding for blind and low-vision (BLV) operators. Although accessible teleoperation plays a key role in…
Robots-operating autonomous assembly applications in an unstructured environment require precise methods to locate the building components on site. However, the current available object detection systems are not well-optimised for…
Large Language Models (LLMs) face significant challenges in distributed healthcare, including consolidating specialized domain knowledge across institutions while maintaining privacy, reducing computational overhead, and preventing…
We present a robot-to-human object handover algorithm and implement it on a 7-DOF arm equipped with a 3-finger mechanical hand. The system performs a fully autonomous and robust object handover to a human receiver in real-time. Our…
Order picking is a pivotal operation in warehouses that directly impacts overall efficiency and profitability. This study addresses the dynamic order picking problem, a significant concern in modern warehouse management, where real-time…
Classification of different object surface material types can play a significant role in the decision-making algorithms for mobile robots and autonomous vehicles. RGB-based scene-level semantic segmentation has been well-addressed in the…
The growing integration of mobile robots in shared workspaces requires efficient path planning and coordination between the agents, accounting for safety and productivity. In this work, we propose a digital model-based optimization…
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…
Optimal transport (OT) is a framework that can guide the design of efficient resource allocation strategies in a network of multiple sources and targets. This paper applies discrete OT to a swarm of UAVs in a novel way to achieve…
From refrigerators to kitchen drawers, humans interact with articulated objects effortlessly every day while completing household chores. For automating these tasks, service robots must be capable of manipulating arbitrary articulated…
With humankind facing new and increasingly large-scale challenges in the medical and domestic spheres, automation of the service sector carries a tremendous potential for improved efficiency, quality, and safety of operations. Mobile…
The current transformation towards smart manufacturing has led to a growing demand for human-robot collaboration (HRC) in the manufacturing process. Perceiving and understanding the human co-worker's behaviour introduces challenges for…