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Capsules as well as dynamic routing between them are most recently proposed structures for deep neural networks. A capsule groups data into vectors or matrices as poses rather than conventional scalars to represent specific properties of…
The problem of maximizing the probability of two trucks being coordinated to merge into a platoon on a highway is considered. Truck platooning is a promising technology that allows heavy vehicles to save fuel by driving with small…
Robotic manipulators operating in dynamic and uncertain environments require efficient motion planning to navigate obstacles while maintaining smooth trajectories. Velocity Potential Field (VPF) planners offer real-time adaptability but…
Automation applications are pushing the deployment of many high DoF manipulators in warehouse and manufacturing environments. This has motivated many efforts on optimizing manipulation tasks involving a single arm. Coordinating multiple…
Assembly of large scale structural systems in space is understood as critical to serving applications that cannot be deployed from a single launch. Recent literature proposes the use of discrete modular structures for in-space assembly and…
Robots that autonomously manipulate objects within warehouses have the potential to shorten the package delivery time and improve the efficiency of the e-commerce industry. In this paper, we present a robotic system that is capable of both…
This paper presents planning algorithms for a robotic manipulator with a fixed base in order to grasp a target object in cluttered environments. We consider a configuration of objects in a confined space with a high density so no…
Particle-based dynamic occupancy maps were proposed in recent years to model the obstacles in dynamic environments. Current particle-based maps describe the occupancy status in discrete grid form and suffer from the grid size problem,…
Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capable of generating dynamically stable base and footstep…
Delays in public transport are common, often impacting users through prolonged travel times and missed transfers. Existing solutions for handling delays remain limited; backup plans based on historical data miss opportunities for earlier…
Developing robotic manipulation policies is iterative and hypothesis-driven: researchers test tactile sensing, gripper geometries, and sensor placements through real-world data collection and training. Yet even minor end-effector changes…
In manipulation tasks, a robot interacts with movable object(s). The configuration space in manipulation planning is thus the Cartesian product of the configuration space of the robot with those of the movable objects. It is the complex…
For planning rearrangements of objects in a clutter, it is required to know the goal configuration of the objects. However, in real life scenarios, this information is not available most of the time. We introduce a novel method that…
Diffusion planning is a promising method for learning high-performance policies from offline data. To avoid the impact of discrepancies between planning and reality on performance, previous works generate new plans at each time step.…
Legged manipulators extend robotic capabilities beyond static manipulation by integrating agile locomotion with versatile arm control. However, achieving precise manipulation while maintaining coordinated locomotion remains a major…
Multi-robot motion planning for high degree-of-freedom manipulators in shared, constrained, and narrow spaces is a complex problem and essential for many scenarios such as construction, surgery, and more. Traditional coupled methods plan…
The rapid development of cloud-native architecture has promoted the widespread application of container technology, but the optimization problems in container scheduling and resource management still face many challenges. This paper…
We study a class of rearrangement problems under a novel pick-n-swap prehensile manipulation model, in which a robotic manipulator, capable of carrying an item and making item swaps, is tasked to sort items stored in lattices of variable…
This paper addresses the problem of pushing manipulation with nonholonomic mobile robots. Pushing is a fundamental skill that enables robots to move unwieldy objects that cannot be grasped. We propose a stable pushing method that maintains…
We investigate opportunities offered by telematics and analytics to enable better informed, and more integrated, collaborative management decisions on construction sites. We focus on efficient refuelling of assets across construction sites.…