Related papers: RichMap: A Reachability Map Balancing Precision, E…
This paper presents an approach for approximating the reachable space of robotic manipulators based on convex polytopes. The proposed approach predicts the reachable space over a given time horizon based on the robot's actuation limits and…
Formal verification of robotic tasks requires a simple yet conformant model of the used robot. We present the first work on generating reachset conformant models for robotic contact tasks considering hybrid (mixed continuous and discrete)…
We present a novel mapping framework for robot navigation which features a multi-level querying system capable to obtain rapidly representations as diverse as a 3D voxel grid, a 2.5D height map and a 2D occupancy grid. These are inherently…
One major recurring challenge in deploying manipulation robots is determining the optimal placement of manipulators to maximize performance. This challenge is exacerbated in complex, cluttered agricultural environments of high-value crops,…
The labeled MRPP (Multi-Robot Path Planning) problem involves routing robots from start to goal configurations efficiently while avoiding collisions. Despite progress in solution quality and runtime, its complexity and industrial relevance…
This paper introduces H-MaP, a hybrid sequential manipulation planner that addresses complex tasks requiring both sequential actions and dynamic contact mode switches. Our approach reduces configuration space dimensionality by decoupling…
Over-approximating the reachable sets of dynamical systems is a fundamental problem in safety verification and robust control synthesis. The representation of these sets is a key factor that affects the computational complexity and the…
The ability to autonomously navigate in unknown environments is important for mobile robots. The map is the core component to achieve this. Most map representations rely on drift-free state estimation and provide a global metric map to…
Current directions in network routing research have not kept pace with the latest developments in network architectures, such as peer-to-peer networks, sensor networks, ad-hoc wireless networks, and overlay networks. A common characteristic…
Mobile manipulator robots operating in complex domestic and industrial environments must effectively coordinate their base and arm motions while avoiding obstacles. While current reactive control methods gracefully achieve this…
Occupancy grids are the most common framework when it comes to creating a map of the environment using a robot. This paper studies occupancy grids from the motion planning perspective and proposes a mapping method that provides richer data…
This paper addresses the scarcity of low-cost but high-dexterity platforms for collecting real-world multi-fingered robot manipulation data towards generalist robot autonomy. To achieve it, we propose the RAPID Hand, a co-optimized hardware…
In this paper, we propose a scalable and highly efficient index structure for the reachability problem over graphs. We build on the well-known node interval labeling scheme where the set of vertices reachable from a particular node is…
While soft robot manipulators offer compelling advantages over rigid counterparts, including inherent compliance, safe human-robot interaction, and the ability to conform to complex geometries, accurate forward modeling from low-dimensional…
Reachability analysis plays a central role in low-thrust spacecraft trajectory optimization by identifying which target states can be achieved under constraints on time, thrust, and propellant. Classical approaches construct reachable sets…
Mapping is a time-consuming process for deploying robotic systems to new environments. The handling of maps is also risk-adverse when not managed effectively. We propose here, a standardised approach to handling such maps in a manner which…
Motion planning for a multi-limbed climbing robot must consider the robot's posture, joint torques, and how it uses contact forces to interact with its environment. This paper focuses on motion planning for a robot that uses nontraditional…
We address multi-robot geometric task-and-motion planning (MR-GTAMP) problems in synchronous, monotone setups. The goal of the MR-GTAMP problem is to move objects with multiple robots to goal regions in the presence of other movable…
We present a centralized algorithmic framework for solving multi-robot path planning problems in general, two-dimensional, continuous environments while minimizing globally the task completion time. The framework obtains high levels of…
In recent years, there has been a significant effort dedicated to developing efficient, robust, and general human-to-robot handover systems. However, the area of flexible handover in the context of complex and continuous objects' motion…