Related papers: Enhanced functions supporting process planning for…
This paper aims to improve the computational efficiency of motion planning for mobile robots with non-trivial dynamics through the use of learned controllers. Offline, a system-specific controller is first trained in an empty environment.…
Computer-aided design (CAD) is the digital construction of 2D and 3D objects, and is central to a wide range of engineering and manufacturing applications like automobile and aviation. Despite its importance, CAD modeling remains largely a…
Industrial timetabling is a critical task for decision-makers across various sectors to ensure efficient system operation. In real-world settings, it remains challenging because unexpected events often disrupt execution. When such events…
This workshop paper presents the challenges we encountered when simulating fully-actuated Unmanned Aerial Vehicles (UAVs) for our research and the solutions we developed to overcome the challenges. We describe the ARCAD simulator that has…
Without radical technological advancements, the global aviation industry will continue to be a major carbon emitter. To reduce aviation's carbon emissions, innovative aircraft technology, including electrified aircraft propulsion, is under…
Design automation, which involves the use of software tools and technologies to streamline the design process, has been widely adopted in the electronics industry, resulting in significant advancements in product development and…
Cylindrical Algebraic Decomposition (CAD) is a key tool in computational algebraic geometry, best known as a procedure to enable Quantifier Elimination over real-closed fields. However, it has a worst case complexity doubly exponential in…
The problem of planning for a robot that operates in environments containing a large number of objects, taking actions to move itself through the world as well as to change the state of the objects, is known as task and motion planning…
With growing system complexity and closer cyber-physical interaction, there are increasingly stronger dependencies between different function and architecture layers in automotive systems. This paper first introduces several cross-layer…
Over the air computation (AirComp) is a promising technique that addresses big data collection and fast wireless data aggregation. However, in a network where wireless communication and AirComp coexist, mutual interference becomes a…
Many everyday objects are difficult to directly grasp (e.g., a flat iPad) or manipulate functionally (e.g., opening the cap of a pen lying on a desk). Such tasks require sequential, asymmetric coordination between two arms, where one arm…
We present a task-and-motion planning (TAMP) algorithm robust against a human operator's cooperative or adversarial interventions. Interventions often invalidate the current plan and require replanning on the fly. Replanning can be…
In this work, we address the cooperation problem among large language model (LLM) based embodied agents, where agents must cooperate to achieve a common goal. Previous methods often execute actions extemporaneously and incoherently, without…
How are people able to plan so efficiently despite limited cognitive resources? We aimed to answer this question by extending an existing model of human task decomposition that can explain a wide range of simple planning problems by adding…
Progressing methods of drawings creating automation is discussed on the basis of so-called modules containing parametric representation of a part of the drawing and the geometrical elements. The stages of evolution of modular technology of…
Multi-agent path planning (MAPP) in continuous spaces is a challenging problem with significant practical importance. One promising approach is to first construct graphs approximating the spaces, called roadmaps, and then apply multi-agent…
Task and motion planning (TAMP) frameworks address long and complex planning problems by integrating high-level task planners with low-level motion planners. However, existing TAMP methods rely heavily on the manual design of planning…
In large scale distributed computing systems, communication overhead is one of the major bottlenecks. In the map-shuffle-reduce framework, which is one of the major distributed computing frameworks, the communication load among servers can…
Designing multi-agent robotic systems requires reasoning across tightly coupled decisions spanning heterogeneous domains, including robot design, fleet composition, and planning. Much effort has been devoted to isolated improvements in…
Robotic process automation (RPA) has emerged as the leading approach to automate tasks in business processes. Moving away from back-end automation, RPA automated the mouse-click on user interfaces; this outside-in approach reduced the…