Related papers: PushingBots: Collaborative Pushing via Neural Acce…

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…

As legged robots take on roles in industrial and autonomous construction, collaborative loco-manipulation is crucial for handling large and heavy objects that exceed the capabilities of a single robot. However, ensuring the safety of these…

Several interesting problems in multi-robot systems can be cast in the framework of distributed optimization. Examples include multi-robot task allocation, vehicle routing, target protection, and surveillance. While the theoretical analysis…

As robots become ubiquitous in the workforce, it is essential that human-robot collaboration be both intuitive and adaptive. A robot's quality improves based on its ability to explicitly reason about the time-varying (i.e. learning curves)…

We present an algorithm that produces a plan for relocating obstacles in order to grasp a target in clutter by a robotic manipulator without collisions. We consider configurations where objects are densely populated in a constrained and…

Soft robots have been leveraged in considerable areas like surgery, rehabilitation, and bionics due to their softness, flexibility, and safety. However, it is challenging to produce two same soft robots even with the same mold and…

Robotic catching of flying objects typically generates high impact forces that might lead to task failure and potential hardware damages. This is accentuated when the object mass to robot payload ratio increases, given the strong inertial…

Multi-robot teams can achieve more dexterous, complex and heavier payload tasks than a single robot, yet effective collaboration is required. Multi-robot collaboration is extremely challenging due to the different kinematic and dynamics…

We present a method to apply heuristic search algorithms to solve rearrangement planning by pushing problems. In these problems, a robot must push an object through clutter to achieve a goal. To do this, we exploit the fact that contact…

Humans engaged in collaborative activities are naturally able to convey their intentions to teammates through multi-modal communication, which is made up of explicit and implicit cues. Similarly, a more natural form of human-robot…

Socially-aware robotic navigation is essential in environments where humans and robots coexist, ensuring both safety and comfort. However, most existing approaches have been primarily developed for mobile robots, leaving a significant gap…

Harmonic potentials provide globally convergent potential fields that are provably free of local minima. Due to its analytical format, it is particularly suitable for generating safe and reliable robot navigation policies. However, for…

Manipulation planning is the task of computing robot trajectories that move a set of objects to their target configuration while satisfying physically feasibility. In contrast to existing works that assume known object templates, we are…

We present a reinforcement learning based framework for human-centered collaborative systems. The framework is proactive and balances the benefits of timely actions with the risk of taking improper actions by minimizing the total time spent…

Robots need to manipulate objects in constrained environments like shelves and cabinets when assisting humans in everyday settings like homes and offices. These constraints make manipulation difficult by reducing grasp accessibility, so…

This paper suggests an integrated navigation system for an unmanned ground vehicle operating in an unknown cluttered environment. The navigator supports time-critical mobility making it possible for a mobile robot to reach a target from the…

Recent studies on quadruped robots have focused on either locomotion or mobile manipulation using a robotic arm. Legged robots can manipulate heavier and larger objects using non-prehensile manipulation primitives, such as planar pushing,…

This paper addresses a safe planning and control problem for mobile robots operating in communication- and sensor-limited dynamic environments. In this case the robots cannot sense the objects around them and must instead rely on…

Robots often face manipulation tasks in environments where vision is inadequate due to clutter, occlusions, or poor lighting--for example, reaching a shutoff valve at the back of a sink cabinet or locating a light switch above a crowded…

For decades, robotics researchers have pursued various tasks for multi-robot systems, from cooperative manipulation to search and rescue. These tasks are multi-robot extensions of classical robotic tasks and often optimized on dimensions…