相关论文: Chauffeuring a Crashed Robot from a Disk

In this paper we study the Near-Gathering problem for a finite set of dimensionless, deterministic, asynchronous, anonymous, oblivious and autonomous mobile robots with limited visibility moving in the Euclidean plane in Look-Compute-Move…

In this paper, a strategy to handle the human safety in a multi-robot scenario is devised. In the presented framework, it is foreseen that robots are in charge of performing any cooperative manipulation task which is parameterized by a…

Multi-robot coordination is crucial for autonomous systems, yet real-world deployments often encounter various failures. These include both temporary and permanent disruptions in sensing and communication, which can significantly degrade…

This text presents the proofs of the technical facts underlying theoretical justification of the convergence and performance of the novel algorithm for reactive navigation of differential drive wheeled robots in dynamic uncertain…

We explore task tolerances, i.e., allowable position or rotation inaccuracy, as an important resource to facilitate smooth and effective telemanipulation. Task tolerances provide a robot flexibility to generate smooth and feasible motions;…

The fundamental goal assignment problem for a multi-robot application aims to assign a unique goal to each robot while ensuring collision-free paths, minimizing the total movement cost. A plausible algorithmic solution to this NP-hard…

A new control algorithm based on the partial control method has been developed. The general situation we are considering is an orbit starting in a certain phase space region Q having a chaotic transient behavior affected by noise, so that…

A widely accepted explanation for robots planning overcautious or overaggressive trajectories alongside human is that the crowd density exceeds a threshold such that all feasible trajectories are considered unsafe -- the freezing robot…

Robot deployment in realistic dynamic environments is a challenging problem despite the fact that robots can be quite skilled at a large number of isolated tasks. One reason for this is that robots are rarely equipped with powerful…

An ever increasing number of applications can employ aerial unmanned vehicles, or so-called drones, to perform different sensing and possibly also actuation tasks from the air. In some cases, the data that is captured at a given point has…

We consider the problem of completely covering an unknown discrete environment with a swarm of asynchronous, frequently-crashing autonomous mobile robots. We represent the environment by a discrete graph, and task the robots with occupying…

Learning from demonstration is widely used for robot navigation, yet it suffers from a fundamental limitation: demonstrations consist predominantly of successful behaviors and provide limited coverage of unsafe states. This limitation leads…

We consider the problem of retrieving a target object from a confined space by two robotic manipulators where overhand grasps are not allowed. If other movable obstacles occlude the target, more than one object should be relocated to clear…

It is important for robots to be able to decide whether they can go through a space or not, as they navigate through a dynamic environment. This capability can help them avoid injury or serious damage, e.g., as a result of running into…

Unthinking execution of human instructions in robotic manipulation can lead to severe safety risks, such as poisonings, fires, and even explosions. In this paper, we present responsible robotic manipulation, which requires robots to…

We study distributed planning for multi-robot systems to provide optimal service to cooperative tasks that are distributed over space and time. Each task requires service by sufficiently many robots at the specified location within the…

We focus on human-robot collaborative transport, in which a robot and a user collaboratively move an object to a goal pose. In the absence of explicit communication, this problem is challenging because it demands tight implicit coordination…

Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…

What is considered safe for a robot operator during physical human-robot collaboration (HRC) is specified in corresponding HRC standards (e.g., ISO/TS 15066). The regime that allows collisions between the moving robot and the operator,…

Gathering is a fundamental coordination problem in cooperative mobile robotics. In short, given a set of robots with arbitrary initial locations and no initial agreement on a global coordinate system, gathering requires that all robots,…