相关论文: A reconfigurable robot workcell for quick set-up o…
Automated tuning of compute kernels is a popular area of research, mainly focused on finding optimal kernel parameters for a problem with fixed input sizes. This approach is good for deploying machine learning models, where the network…
The mixed-model assembly line (MMAL) is a production system used in the automobile industry to manufacture different car models on the same conveyor, offering a high degree of product customization and flexibility. However, the MMAL also…
3D meshes are a fundamental representation widely used in computer science and engineering. In robotics, they are particularly valuable because they capture objects in a form that aligns directly with how robots interact with the physical…
We present progress on the problem of reconfiguring a 2D arrangement of building material by a cooperative group of robots. These robots must avoid collisions, deadlocks, and are subjected to the constraint of maintaining connectivity of…
This paper presents a framework that enables robots to automatically recover from assumption violations of high-level specifications during task execution. In contrast to previous methods relying on user intervention to impose additional…
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.…
Intelligent manufacturing is becoming increasingly important due to the growing demand for maximizing productivity and flexibility while minimizing waste and lead times. This work investigates automated secondary robotic food packaging…
Industrial robots are designed as general-purpose hardware with limited ability to adapt to changing task requirements or environments. Modular robots, on the other hand, offer flexibility and can be easily customized to suit diverse needs.…
Robot design is a complex and time-consuming process that requires specialized expertise. Gaining a deeper understanding of robot design data can enable various applications, including automated design generation, retrieving example designs…
In this work, we propose a framework called Auto-Assembly for automated robotic assembly from design files and demonstrate a practical implementation on modular parts joined by fastening using a robotic cell consisting of two robots. We…
High-performance computing (HPC) is undergoing significant changes. Next generation HPC systems are equipped with diverse global and local resources, such as I/O burst buffer resources, memory resources (e.g., on-chip and off-chip RAM,…
Coordinating heterogeneous robot fleets to achieve multiple goals is challenging in multi-robot systems. We introduce an open-source and extensible framework for centralized multi-robot task planning and scheduling that leverages LLMs to…
This paper introduces REMS, a robotics middleware and control framework that is designed to introduce the Zen of Python to robotics and to improve robotics education and development flow. Although existing middleware can serve hardware…
The current transformation towards smart manufacturing has led to a growing demand for human-robot collaboration (HRC) in the manufacturing process. Perceiving and understanding the human co-worker's behaviour introduces challenges for…
Individualized manufacturing is becoming an important approach as a means to fulfill increasingly diverse and specific consumer requirements and expectations. While there are various solutions to the implementation of the manufacturing…
In the context of component-based embedded systems, the management of dynamic reconfiguration in adaptive systems is an increasingly important feature. The Fractal component-based framework, and its industrial instantiation MIND, provide…
Imitation learning from a large set of human demonstrations has proved to be an effective paradigm for building capable robot agents. However, the demonstrations can be extremely costly and time-consuming to collect. We introduce MimicGen,…
In collaborative robotic cells, a human operator and a robot share the workspace in order to execute a common job, consisting of a set of tasks. A proper allocation and scheduling of the tasks for the human and for the robot is crucial for…
Errors or failures in a high-volume manufacturing environment can have significant impact that can result in both the loss of time and money. Identifying such failures early has been a top priority for manufacturing industries and various…
Smart manufacturing aims to overcome the limitations of today's rigid assembly lines by making the material flow and manufacturing process more flexible, versatile, and scalable. The main economic drivers are higher resource and cost…