相关论文: Workspace and Assembly modes in Fully-Parallel Man…

Motion planning is a difficult problem in robot control. The complexity of the problem is directly related to the dimension of the robot's configuration space. While in many theoretical calculations and practical applications the…

Robots exhibit a rich variety of symmetries arising from their mechanical structure and the properties of their tasks. Although many robotics problems exhibit several symmetries simultaneously, existing approaches typically treat them in…

This paper presents a mini-review of the current state of research in mobile manipulators with variable levels of autonomy, emphasizing their associated challenges and application environments. The need for mobile manipulators in different…

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…

Many methods have been developed for planning the motion of robotic arms for picking and placing, ranging from local optimization to global search techniques, which are effective for sparsely placed objects. Dense clutter, however, still…

Understanding the inner workings of machine learning models like Transformers is vital for their safe and ethical use. This paper provides a comprehensive analysis of a one-layer Transformer model trained to perform n-digit integer…

In this paper, we present a planner that plans a sequence of base positions for a mobile manipulator to efficiently and robustly collect objects stored in distinct trays. We achieve high efficiency by exploring the common areas where a…

Modular robots can be tailored to achieve specific tasks and rearranged to achieve previously infeasible ones. The challenge is choosing an appropriate design from a large search space. In this work, we describe a framework that…

When we think of model ensembling or ensemble modeling, there are many possibilities that come to mind in different disciplines. For example, one might think of a set of descriptions of a phenomenon in the world, perhaps a time series or a…

An effective human-robot collaborative process results in the reduction of the operator's workload, promoting a more efficient, productive, safer and less error-prone working environment. However, the implementation of collaborative robots…

Effective human-robot teaming is crucial for the practical deployment of robots in human workspaces. However, optimizing joint human-robot plans remains a challenge due to the difficulty of modeling individualized human capabilities and…

The proposed article is devoted to the study of the problem of constructing phase trajectories in the vicinity of a singular point. This paper presents a more expanded view of this problem in comparison with those previously considered by…

This paper considers the problem of completing assemblies of passive objects in nonconvex environments, cluttered with convex obstacles of unknown position, shape and size that satisfy a specific separation assumption. A differential drive…

Based on multiple simulation trajectories, which started from dispersively selected initial conformations, the weighted ensemble dynamics method is designed to robustly and systematically explore the hierarchical structure of complex…

From the complex motions of robots to the oxygen binding of hemoglobin, the function of many mechanical systems depends on large, coordinated movements of their components. Such movements arise from a network of physical interactions in the…

Self-assembly is a ubiquitous process in synthetic and biological systems, broadly defined as the spontaneous organization of multiple subunits (e.g. macromolecules, particles) into ordered multi-unit structures. The vast majority of…

When we focus on finite dynamical systems from both the computability/complexity and the modelling standpoints, automata networks seem to be a particularly appropriate mathematical model on which theory shall be developed. In this paper,…

I present a review of the theoretical and computational methodologies that have been used to model the assembly of viral capsids. I discuss the capabilities and limitations of approaches ranging from equilibrium continuum theories to…

Does the assignment order of a fixed collection of slightly distinct subsystems into given communication channels influence the overall ensemble behavior? We discuss this question in the context of complex networks of non-identical…

When planning motions in a configuration space that has underlying symmetries (e.g. when manipulating one or multiple symmetric objects), the ideal planning algorithm should take advantage of those symmetries to produce shorter…