相关论文: Preparatory Manipulation Planning using Automatica…

In teleoperation, research has mainly focused on target approaching, where we deal with the more challenging object manipulation task by advancing the shared control technique. Appropriately manipulating an object is challenging due to the…

An important capability of autonomous multi-robot systems is to prevent collision among the individual robots. One approach to this problem is to plan conflict-free trajectories and let each of the robots follow its pre-planned trajectory.…

We implement and evaluate different methods for the reconfiguration of a connected arrangement of tiles into a desired target shape, using a single active robot that can move along the tile structure. This robot can pick up, carry, or drop…

Most object manipulation strategies for robots are based on the assumption that the object is rigid (i.e., with fixed geometry) and the goal's details have been fully specified (e.g., the exact target pose). However, there are many tasks…

Complex manipulation tasks, such as rearrangement planning of numerous objects, are combinatorially hard problems. Existing algorithms either do not scale well or assume a great deal of prior knowledge about the environment, and few offer…

This work develops a novel trajectory planner for human-robot handovers. The handover requirements can naturally be handled by a path-following-based model predictive controller, where the path progress serves as a progress measure of the…

Humans throw and catch objects all the time. However, such a seemingly common skill introduces a lot of challenges for robots to achieve: The robots need to operate such dynamic actions at high-speed, collaborate precisely, and interact…

Prehensile object rearrangement in cluttered and confined spaces has broad applications but is also challenging. For instance, rearranging products in a grocery shelf means that the robot cannot directly access all objects and has limited…

Coordinating the motion of multiple agents in constrained environments is a fundamental challenge in robotics, motion planning, and scheduling. A motivating example involves $n$ robotic arms, each represented as a line segment. The…

Deep learning-based grasp prediction models have become an industry standard for robotic bin-picking systems. To maximize pick success, production environments are often equipped with several end-effector tools that can be swapped…

Robot manipulation and grasping mechanisms have received considerable attention in the recent past, leading to the development of wide range of industrial applications. This paper proposes the development of an autonomous robotic grasping…

We describe an algorithm for motion planning based on expert demonstrations of a skill. In order to teach robots to perform complex object manipulation tasks that can generalize robustly to new environments, we must (1) learn a…

This paper presents a method for constrained motion planning from vision, which enables a robot to move its end-effector over an observed surface, given start and destination points. The robot has no prior knowledge of the surface shape,…

The pattern formation task is commonly seen in a multi-robot system. In this paper, we study the problem of forming complex shapes with functionally limited mobile robots, which have to rely on other robots to precisely locate themselves.…

For effective human-robot collaboration, a robot must align its actions with human goals, even as they change mid-task. Prior approaches often assume fixed goals, reducing goal prediction to a one-time inference. However, in real-world…

In this paper, we show how a planning algorithm can be used to automatically create and update a Behavior Tree (BT), controlling a robot in a dynamic environment. The planning part of the algorithm is based on the idea of back chaining.…

It is necessary for a mobile robot to be able to efficiently plan a path from its starting, or current, location to a desired goal location. This is a trivial task when the environment is static. However, the operational environment of the…

In this work, we address a task allocation problem for human multi-robot settings. Given a set of tasks to perform, we formulate a general Mixed-Integer Linear Programming (MILP) problem aiming at minimizing the overall execution time while…

We present an efficient algorithm for motion planning and control of a robot system with a high number of degrees-of-freedom. These include high-DOF soft robots or an articulated robot interacting with a deformable environment. Our approach…

Robots that can operate autonomously in a human living environment are necessary to have the ability to handle various tasks flexibly. One crucial element is coordinated bimanual movements that enable functions that are difficult to perform…