Related papers: ORB: Operating Room Bot, Automating Operating Room…
This paper presents HyperGraph ROS, an open-source robot operating system that unifies intra-process, inter-process, and cross-device computation into a computational hypergraph for efficient message passing and parallel execution. In order…
Optimal transport (OT) is a widely used technique for distribution alignment, with applications throughout the machine learning, graphics, and vision communities. Without any additional structural assumptions on trans-port, however, OT can…
Popular navigation stacks implemented on top of open-source frameworks such as ROS(Robot Operating System) and ROS2 represent the robot workspace using a discretized 2D occupancy grid. This method, while requiring less computation,…
This paper introduces the BOW Planner, a scalable motion planning algorithm designed to navigate robots through complex environments using constrained Bayesian optimization (CBO). Unlike traditional methods, which often struggle with…
To autonomously navigate in real-world environments, special in search and rescue operations, Unmanned Aerial Vehicles (UAVs) necessitate comprehensive maps to ensure safety. However, the prevalent metric map often lacks semantic…
Current orthopedic robotic systems largely focus on navigation, aiding surgeons in positioning a guiding tube but still requiring manual drilling and screw placement. The automation of this task not only demands high precision and safety…
Efficient learning from demonstration for long-horizon tasks remains an open challenge in robotics. While significant effort has been directed toward learning trajectories, a recent resurgence of object-centric approaches has demonstrated…
Human-in-the-loop approaches are of great importance for robot applications. In the presented study, we implemented a multimodal human-robot interaction (HRI) scenario, in which a simulated robot communicates with its human partner through…
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…
Task allocation plays a vital role in multi-robot autonomous cleaning systems, where multiple robots work together to clean a large area. However, most current studies mainly focus on deterministic, single-task allocation for cleaning…
This paper deals with a new type of warehousing system, Robotic Mobile Fulfillment Systems (RMFS). In such systems, robots are sent to carry storage units, so-called "pods", from the inventory and bring them to human operators working at…
Bolting operations are critical in industrial assembly and in the maintenance of scientific facilities, requiring high precision and robustness to faults. Although robotic solutions have the potential to improve operational safety and…
In warehousing systems, to enhance logistical efficiency amid surging demand volumes, much focus is placed on how to reasonably allocate tasks to robots. However, the robots labor is still inevitably wasted to some extent. In response to…
Neural-network-based dynamics models learned from observational data have shown strong predictive capabilities for scene dynamics in robotic manipulation tasks. However, their inherent non-linearity presents significant challenges for…
This paper proposes an on-orbit servicing logistics optimization framework that is capable of performing the short-term operational scheduling and long-term strategic planning of sustainable servicing infrastructures that involve…
Mobile autonomous robots have the potential to revolutionize manufacturing processes. However, employing large robot fleets in manufacturing requires addressing challenges including collision-free movement in a shared workspace, effective…
We present a novel reinforcement learning (RL) based task allocation and decentralized navigation algorithm for mobile robots in warehouse environments. Our approach is designed for scenarios in which multiple robots are used to perform…
In this paper, we present the main features of Dynamic Rapidly-exploring Generalized Bur Tree (DRGBT) algorithm, a sampling-based planner for dynamic environments. We provide a detailed time analysis and appropriate scheduling to facilitate…
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…
Developing embodied AI for intelligent surgical systems requires safe, controllable environments for continual learning and evaluation. However, safety regulations and operational constraints in operating rooms (ORs) limit agents from…