Related papers: Pack it in: Packing into Partially Filled Containe…
Industrial robotic object handling often involves boxes and packages whose mass and center of mass are not known in advance. These uncertainties affect the force--moment balance required for stable lifting, and improper regulation of…
Multimodal integration is a key component of allowing robots to perceive the world. Multimodality comes with multiple challenges that have to be considered, such as how to integrate and fuse the data. In this paper, we compare different…
In the context of evolving supply chain management, the significance of efficient inventory management has grown substantially for businesses. However, conventional manual and experience-based approaches often struggle to meet the…
Recent work in robotic manipulation focuses on object retrieval in cluttered spaces under occlusion. Nevertheless, the majority of efforts lack an analysis of conditions for the completeness of the approaches or the methods apply only when…
Robotic systems in manufacturing applications commonly assume known object geometry and appearance. This simplifies the task for the 3D perception algorithms and allows the manipulation to be more deterministic. However, those approaches…
We study the classic Bin Packing problem in a fully-dynamic setting, where new items can arrive and old items may depart. We want algorithms with low asymptotic competitive ratio \emph{while repacking items sparingly} between updates.…
In order to enable physical human-robot interaction where humans and (mobile) manipulators share their workspace and work together, robots have to be equipped with important capabilities to guarantee human safety. The robots have to…
Action anticipation, intent prediction, and proactive behavior are all desirable characteristics for autonomous driving policies in interactive scenarios. Paramount, however, is ensuring safety on the road --- a key challenge in doing so is…
We achieved contact-rich flexible object manipulation, which was difficult to control with vision alone. In the unzipping task we chose as a validation task, the gripper grasps the puller, which hides the bag state such as the direction and…
In robots, nonprehensile manipulation operations such as pushing are a useful way of moving large, heavy or unwieldy objects, moving multiple objects at once, or reducing uncertainty in the location or pose of objects. In this study, we…
We present new approximation schemes for bin packing based on the following two approaches: (1) partitioning the given problem into mostly identical sub-problems of constant size and then construct a solution by combining the solutions of…
This paper presents a compliant manipulation system capable of placing items onto densely packed shelves. The wide diversity of items and strict business requirements for high producing rates and low defect generation have prohibited…
Imagine yourself moving to another place, and therefore, you need to pack all of your belongings into moving boxes with some capacity. In the classical bin packing model, you would try to minimize the number of boxes, knowing the exact size…
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…
In this paper, we introduce a semi-decentralized control technique for a swarm of robots transporting a fragile object to a destination in an uncertain occluded environment.The proposed approach has been split into two parts. The initial…
This paper explores the integration of Automated Guided Vehicles (AGVs) in warehouse order picking, a crucial and cost-intensive aspect of warehouse operations. The booming AGV industry, accelerated by the COVID-19 pandemic, is witnessing…
Containers offer an array of advantages that benefit research reproducibility and portability across groups and systems. As container tools mature, container security improves, and High-performance computing (HPC) and cloud system tools…
Containers are standalone, self-contained units that package software and its dependencies together. They offer lightweight performance isolation, fast and flexible deployment, and fine-grained resource sharing. They have gained popularity…
Cargo loss/damage is a very common problem faced by almost any business with a supply chain arm, leading to major problems like revenue loss and reputation tarnishing. This problem can be solved by employing an asset and impact tracking…
Robots usually establish contacts at rigid surfaces with near-zero relative velocities. Otherwise, impact-induced energy propagates in the robot's linkage and may cause irreversible damage to the hardware. Moreover, abrupt changes in…