Related papers: Towards Multi-Object Nonprehensile Transportation …
This paper addresses the problem of cooperative object transportation for multiple Underwater Vehicle Manipulator Systems (UVMSs) in a constrained workspace involving static obstacles. We propose a Nonlinear Model Predictive Control (NMPC)…
Human-robot object handovers have been an actively studied area of robotics over the past decade; however, very few techniques and systems have addressed the challenge of handing over diverse objects with arbitrary appearance, size, shape,…
Mobile telepresence robots (MTRs) allow people to navigate and interact with a remote environment that is in a place other than the person's true location. Thanks to the recent advances in 360 degree vision, many MTRs are now equipped with…
Objects rarely sit in isolation in human environments. As such, we'd like our robots to reason about how multiple objects relate to one another and how those relations may change as the robot interacts with the world. To this end, we…
Agile control of mobile manipulator is challenging because of the high complexity coupled by the robotic system and the unstructured working environment. Tracking and grasping a dynamic object with a random trajectory is even harder. In…
Multiobject tracking (MOT) is an important task in applications including autonomous driving, ocean sciences, and aerospace surveillance. Traditional MOT methods are model-based and combine sequential Bayesian estimation with data…
This paper addresses the problem of safe and efficient navigation in remotely controlled robots operating in hazardous and unstructured environments; or conducting other remote robotic tasks. A shared control method is presented which…
Nonprehensile manipulation through precise pushing is an essential skill that has been commonly challenged by perception and physical uncertainties, such as those associated with contacts, object geometries, and physical properties. For…
Scalable multi-robot transition is essential for ubiquitous adoption of robots. As a step towards it, a computationally efficient decentralized algorithm for continuous-time trajectory optimization in multi-robot scenarios based upon model…
Manipulating deformable objects arises in daily life and numerous applications. Despite phenomenal advances in industrial robotics, manipulation of deformable objects remains mostly a manual task. This is because of the high number of…
The swiftly expanding retail sector is increasingly adopting autonomous mobile robots empowered by artificial intelligence and machine learning algorithms to gain an edge in the competitive market. However, these autonomous robots encounter…
3D multi-object tracking plays a critical role in autonomous driving by enabling the real-time monitoring and prediction of multiple objects' movements. Traditional 3D tracking systems are typically constrained by predefined object…
Object detection for robot guidance is a crucial mission for autonomous robots, which has provoked extensive attention for researchers. However, the changing view of robot movement and limited available data hinder the research in 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…
Teleoperation interfaces are essential tools for enabling human control of robotic systems. Although a wide range of interfaces has been developed, a persistent gap remains between the level of performance humans can achieve through these…
Humans can robustly follow a visual trajectory defined by a sequence of images (i.e. a video) regardless of substantial changes in the environment or the presence of obstacles. We aim at endowing similar visual navigation capabilities to…
Cooperative transportation, a key aspect of logistics cyber-physical systems (CPS), is typically approached using dis tributed control and optimization-based methods. The distributed control methods consume less time, but poorly handle and…
In this work, we propose TransTrack, a simple but efficient scheme to solve the multiple object tracking problems. TransTrack leverages the transformer architecture, which is an attention-based query-key mechanism. It applies object…
Deformable objects often appear in unstructured configurations. Tracing deformable objects helps bringing them into extended states and facilitating the downstream manipulation tasks. Due to the requirements for object-specific modeling or…
Teleoperation is a popular solution to remotely support highly automated vehicles through a human remote operator whenever a disengagement of the automated driving system is present. The remote operator wirelessly connects to the vehicle…