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Motion planning for manipulators under task space constraints is difficult as it constrains the joint configurations to always lie on an implicitly defined manifold. It is possible to view task constrained motion planning as an optimization…
It will be increasingly common for robots to operate in cluttered human-centered environments such as homes, workplaces, and hospitals, where the robot is often tasked to maintain perception constraints, such as monitoring people or…
We consider a sequential task and motion planning (tamp) setting in which a robot is assigned continuous-space rearrangement-style tasks one-at-a-time in an environment that persists between each. Lacking advance knowledge of future tasks,…
In this paper, we tackle the problem of human-robot coordination in sequences of manipulation tasks. Our approach integrates hierarchical human motion prediction with Task and Motion Planning (TAMP). We first devise a hierarchical motion…
General-purpose robots require diverse repertoires of behaviors to complete challenging tasks in real-world unstructured environments. To address this issue, goal-conditioned reinforcement learning aims to acquire policies that can reach…
Coverage path planning is a fundamental challenge in robotics, with diverse applications in aerial surveillance, manufacturing, cleaning, inspection, agriculture, and more. The main objective is to devise a trajectory for an agent that…
Autonomous robotic inspection, where a robot moves through its environment and inspects points of interest, has applications in industrial settings, structural health monitoring, and medicine. Planning the paths for a robot to safely and…
Coordinating agents through hazardous environments, such as aid-delivering drones navigating conflict zones or field robots traversing deployment areas filled with obstacles, poses fundamental planning challenges. We introduce and analyze…
Efficient navigation through uneven terrain remains a challenging endeavor for autonomous robots. We propose a new geometric-based uneven terrain mapless navigation framework combining a Sparse Gaussian Process (SGP) local map with a…
Task and motion planning is one of the key problems in robotics today. It is often formulated as a discrete task allocation problem combined with continuous motion planning. Many existing approaches to TAMP involve explicit descriptions of…
Consider a general path planning problem of a robot on a graph with edge costs, and where each node has a Boolean value of success or failure (with respect to some task) with a given probability. The objective is to plan a path for the…
We present a method to find globally optimal topology and trajectory jointly for planar linkages. Planar linkage structures can generate complex end-effector trajectories using only a single rotational actuator, which is very useful in…
The challenge in combined task and motion planning (TAMP) is the effective integration of a search over a combinatorial space, usually carried out by a task planner, and a search over a continuous configuration space, carried out by a…
Robots performing manipulation tasks must operate under uncertainty about both their pose and the dynamics of the system. In order to remain robust to modeling error and shifts in payload dynamics, agents must simultaneously perform…
This paper studies a class of multi-robot coordination problems where a team of robots aim to reach their goal regions with minimum time and avoid collisions with obstacles and other robots. A novel numerical algorithm is proposed to…
This paper presents a task and motion planning (TAMP) framework for a robotic manipulator in order to retrieve a target object from clutter. We consider a configuration of objects in a confined space with a high density so no collision-free…
This paper proposes a novel approach to performing in-grasp manipulation: the problem of moving an object with reference to the palm from an initial pose to a goal pose without breaking or making contacts. Our method to perform in-grasp…
The current state-of-the-art gradient-based optimisation frameworks are able to produce impressive dynamic manoeuvres such as linear and rotational jumps. However, these methods, which optimise over the full rigid-body dynamics of the…
Legged robotic systems can play an important role in real-world applications due to their superior load-bearing capabilities, enhanced autonomy, and effective navigation on uneven terrain. They offer an optimal trade-off between mobility…
This paper studies real-time motion planning and control for ball bumping motion with quadruped robots. To enable the quadruped to bump the flying ball with different initializations, we develop a nonlinear trajectory optimization-based…