相关论文: Autonomous Planning Based on Spatial Concepts to T…

This paper presents a planning algorithm designed to improve cooperative robot behavior concerning human comfort during forceful human-robot physical interaction. Particularly, we are interested in planning for object grasping and…

This paper focuses on vision-based pose estimation for multiple rigid objects placed in clutter, especially in cases involving occlusions and objects resting on each other. Progress has been achieved recently in object recognition given…

We introduce a planner designed to guide robot manipulators in stably placing objects within intricate scenes. Our proposed method reverses the traditional approach to object placement: our planner selects contact points first and then…

We consider a sequential task and motion planning (tamp) setting in which a robot is assigned continuous-space rearrangement-style tasks one-at-a-time in an environment that persists between each. Lacking advance knowledge of future tasks,…

Algorithms for motion planning in unknown environments are generally limited in their ability to reason about the structure of the unobserved environment. As such, current methods generally navigate unknown environments by relying on…

This paper addresses the autonomous robot ergodicity problem for efficient environment exploration. The spatial distribution as a reference is given by a mixture of Gaussian and the mass generation of the robot is assumed to be skinny…

The paper develops a robotic manipulation system to treat the pressing needs for handling a large number of test tubes in clinical examination and replace or reduce human labor. It presents the technical details of the system, which…

As social beings, much human behavior is predicated on social context - the ambient social state that includes cultural norms, social signals, individual preferences, etc. In this paper, we propose a socially-aware task and motion planning…

Physically disentangling entangled objects from each other is a problem encountered in waste segregation or in any task that requires disassembly of structures. Often there are no object models, and, especially with cluttered irregularly…

Robotic assembly planning enables architects to explicitly account for the assembly process during the design phase, and enables efficient building methods that profit from the robots' different capabilities. Previous work has addressed…

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.…

Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to…

In a robotic mobile fulfillment system, robots bring shelves, called pods, with storage items from the storage area to pick stations. At every pick station there is a person -- the picker -- who takes parts from the pod and packs them into…

Visual localization and mapping is a crucial capability to address many challenges in mobile robotics. It constitutes a robust, accurate and cost-effective approach for local and global pose estimation within prior maps. Yet, in highly…

We claim that navigation in human environments can be viewed as cooperative activity especially in constrained situations. Humans concurrently aid and comply with each other while moving in a shared space. Cooperation helps pedestrians to…

In this paper, we consider a large-scale instance of the classical Pickup-and-Delivery Vehicle Routing Problem (PDVRP) that must be solved by a network of mobile cooperating robots. Robots must self-coordinate and self-allocate a set of…

Localization, that is the estimation of a robot's location from sensor data, is a fundamental problem in mobile robotics. This papers presents a version of Markov localization which provides accurate position estimates and which is tailored…

Consider the problem of planning collision-free motion of $n$ objects in the plane movable through contact with a robot that can autonomously translate in the plane and that can move a maximum of $m \leq n$ objects simultaneously. This…

Humans universally dislike the task of cleaning up a messy room. If machines were to help us with this task, they must understand human criteria for regular arrangements, such as several types of symmetry, co-linearity or co-circularity,…

This thesis presents novel algorithms to advance robotic object rearrangement, a critical task for autonomous systems in applications like warehouse automation and household assistance. Addressing challenges of high-dimensional planning,…