相关论文: Synchronized Multi-Arm Rearrangement Guided by Mod…

An exciting frontier in robotic manipulation is the use of multiple arms at once. However, planning concurrent motions is a challenging task using current methods. The high-dimensional composite state space renders many well-known motion…

Multiple robotic systems, working together, can provide important solutions to different real-world applications (e.g., disaster response), among which task allocation problems feature prominently. Very few existing decentralized…

Efficient multi-robot task allocation (MRTA) is fundamental to various time-sensitive applications such as disaster response, warehouse operations, and construction. This paper tackles a particular class of these problems that we call…

Generating high-quality motion plans for multiple robot arms is challenging due to the high dimensionality of the system and the potential for inter-arm collisions. Traditional motion planning methods often produce motions that are…

While motion planning of locomotion for legged robots has shown great success, motion planning for legged robots with dexterous multi-finger grasping is not mature yet. We present an efficient motion planning framework for simultaneously…

We consider here the MultiBot problem for the scheduling and the resource parametrization of jobs related to the production or the transportation of different products inside a given time horizon. Those jobs must meet known in advance…

Multi-task learning solves multiple correlated tasks. However, conflicts may exist between them. In such circumstances, a single solution can rarely optimize all the tasks, leading to performance trade-offs. To arrive at a set of optimized…

For a team of heterogeneous robots executing multiple tasks, we propose a novel algorithm to optimally allocate tasks to robots while accounting for their different capabilities. Motivated by the need that robot teams have in many…

Planning motions for two robot arms to move an object collaboratively is a difficult problem, mainly because of the closed-chain constraint, which arises whenever two robot hands simultaneously grasp a single rigid object. In this paper, we…

With the recent influx in demand for multi-robot systems throughout industry and academia, there is an increasing need for faster, robust, and generalizable path planning algorithms. Similarly, given the inherent connection between control…

We investigate the utility of employing multiple buffers in solving a class of rearrangement problems with pick-n-swap manipulation primitives. In this problem, objects stored randomly in a lattice are to be sorted using a robot arm with…

Assembly of large scale structural systems in space is understood as critical to serving applications that cannot be deployed from a single launch. Recent literature proposes the use of discrete modular structures for in-space assembly and…

Household robots have been a longstanding research topic, but they still lack human-like intelligence, particularly in manipulating open-set objects and navigating large environments efficiently and accurately. To push this boundary, we…

Teleoperation provides a way for human operators to guide robots in situations where full autonomy is challenging or where direct human intervention is required. It can also be an important tool to teach robots in order to achieve…

The goal of this paper is to develop efficient regrasp algorithms for single-arm and dual-arm regrasp and compares the performance of single-arm and dual-arm regrasp by running the two algorithms thousands of times. We focus on…

Combining symbolic and geometric reasoning in multi-agent systems is a challenging task that involves planning, scheduling, and synchronization problems. Existing works overlooked the variability of task duration and geometric feasibility…

Multi-task multi-agent reinforcement learning (MT-MARL) has recently gained attention for its potential to enhance MARL's adaptability across multiple tasks. However, it is challenging for existing multi-task learning methods to handle…

Recent work in the construction of 3D scene graphs has enabled mobile robots to build large-scale metric-semantic hierarchical representations of the world. These detailed models contain information that is useful for planning, however an…

We introduce the Block Rearrangement Problem (BRaP), a challenging component of large warehouse management which involves rearranging storage blocks within dense grids to achieve a goal state. We formally define the BRaP as a graph search…

This paper presents a comprehensive methodology for modeling an on-orbit assembly mission scenario of a large flexible structure using a multi-arm robot. This methodology accounts for significant changes in inertia and flexibility…