Related papers: Pack it in: Packing into Partially Filled Containe…
Reverse Vending Machines (RVMs) are a proven instrument for facilitating closed-loop plastic packaging recycling. A good customer experience at the RVM is crucial for a further proliferation of this technology. Bin full events are the major…
For mobile robots, navigating cluttered or dynamic environments often necessitates non-prehensile manipulation, particularly when faced with objects that are too large, irregular, or fragile to grasp. The unpredictable behavior and varying…
Imagine a robot that can assemble a functional product from the individual parts presented in any configuration to the robot. Designing such a robotic system is a complex problem which presents several open challenges. To bypass these…
The study of {\em balls-into-bins processes} or {\em occupancy problems} has a long history. These processes can be used to translate realistic problems into mathematical ones in a natural way. In general, the goal of a balls-into-bins…
In this work, we build on our method for manipulating unknown objects via contact configuration regulation: the estimation and control of the location, geometry, and mode of all contacts between the robot, object, and environment. We…
Handling loosely placed objects with robotic manipulators is a difficult task from the point of view of trajectory planning and control. This becomes even more challenging when the object to be handled is a container filled with liquid.…
The Cloud Computing paradigm consists in providing customers with virtual services of the quality which meets customers' requirements. A cloud service operator is interested in using his infrastructure in the most efficient way while…
In this survey, we present the current status on robots performing manipulation tasks that require varying contact with the environment, such that the robot must either implicitly or explicitly control the contact force with the environment…
Robust and adaptive robotic peg-in-hole assembly under tight tolerances is critical to various industrial applications. However, it remains an open challenge due to perceptual and physical uncertainties from contact-rich interactions that…
Optimal packing of objects in containers is a critical problem in various real-life and industrial applications. This paper investigates the two-dimensional packing of convex polygons without rotations, where only translations are allowed.…
Offloading traffic through opportunistic communications has been recently proposed as a way to relieve the current overload of cellular networks. Opportunistic communication can occur when mobile device users are (temporarily) in each…
Supply chain management encompasses various processes including various conventional logistics activities, and various other processes These processes are supported -- to a certain limit -- by coordination and integration mechanisms which…
In warehouse and manufacturing environments, manipulation platforms are frequently deployed at conveyor belts to perform pick and place tasks. Because objects on the conveyor belts are moving, robots have limited time to pick them up. This…
Object rearrangement in a multi-room setup should produce a reasonable plan that reduces the agent's overall travel and the number of steps. Recent state-of-the-art methods fail to produce such plans because they rely on explicit…
Packing optimization is a prevalent problem that necessitates robust and efficient algorithms that are also simple to implement. One group of approaches is the raster methods, which rely on approximating the objects with pixelated…
Locating and grasping of objects by robots is typically performed using visual sensors. Haptic feedback from contacts with the environment is only secondary if present at all. In this work, we explored an extreme case of searching for and…
Efficient and safe retrieval of stacked objects in warehouse environments is a significant challenge due to complex spatial dependencies and structural inter-dependencies. Traditional vision-based methods excel at object localization but…
We present a probabilistic approach for building, on the fly, 3-D models of unknown objects while being manipulated by a robot. We specifically consider manipulation tasks in piles of clutter that contain previously unseen objects. Most…
In this paper, we explore whether a robot can learn to hang arbitrary objects onto a diverse set of supporting items such as racks or hooks. Endowing robots with such an ability has applications in many domains such as domestic services,…
In this paper we present a new algorithm for a layout optimization problem: this concerns the placement of weighted polygons inside a circular container, the two objectives being to minimize imbalance of mass and to minimize the radius of…