相关论文: Computing High-Quality Clutter Removal Solutions f…

For planning rearrangements of objects in a clutter, it is required to know the goal configuration of the objects. However, in real life scenarios, this information is not available most of the time. We introduce a novel method that…

Multi-robot path planning is a computational process involving finding paths for each robot from its start to the goal while ensuring collision-free operation. It is widely used in robots and autonomous driving. However, the computational…

Effectively rearranging heterogeneous objects constitutes a high-utility skill that an intelligent robot should master. Whereas significant work has been devoted to the grasp synthesis of heterogeneous objects, little attention has been…

Object search -- the problem of finding a target object in a cluttered scene -- is essential to solve for many robotics applications in warehouse and household environments. However, cluttered environments entail that objects often occlude…

This survey presents a comprehensive review of various methods and algorithms related to passing-through control of multi-robot systems in cluttered environments. Numerous studies have investigated this area, and we identify several avenues…

A fundamental challenge in multi-robot motion planning is achieving sufficient coordination to avoid inter-robot conflicts without incurring the large computational expense of searching the joint configuration space of the robot group. In…

This paper explores general multi-robot task and motion planning, where multiple robots in close proximity manipulate objects while satisfying constraints and a given goal. In particular, we formulate the plan refinement problem--which,…

We present a centralized algorithmic framework for solving multi-robot path planning problems in general, two-dimensional, continuous environments while minimizing globally the task completion time. The framework obtains high levels of…

Humans, in comparison to robots, are remarkably adept at reaching for objects in cluttered environments. The best existing robot planners are based on random sampling of configuration space -- which becomes excessively high-dimensional with…

We study the computational complexity of optimally solving multi-robot path planning problems on planar graphs. For four common time- and distance-based objectives, we show that the associated path optimization problems for multiple robots…

Task execution quality significantly impacts multi-robot missions, yet existing task allocation frameworks rarely consider quality of service as a decision variable, despite its importance in applications like robotic disinfection and…

This work studies rearrangement problems involving the sorting of robots or objects in stack-like containers, which can be accessed only from one side. Two scenarios are considered: one where every robot or object needs to reach a…

We address multi-robot geometric task-and-motion planning (MR-GTAMP) problems in synchronous, monotone setups. The goal of the MR-GTAMP problem is to move objects with multiple robots to goal regions in the presence of other movable…

We address the problem of motion planning for a robotic manipulator with the task to place a grasped object in a cluttered environment. In this task, we need to locate a collision-free pose for the object that a) facilitates the stable…

We introduce a novel strategy for multi-robot sorting of waste objects using Reinforcement Learning. Our focus lies on finding optimal picking strategies that facilitate an effective coordination of a multi-robot system, subject to…

We present an algorithm determining where to relocate objects inside a cluttered and confined space while rearranging objects to retrieve a target object. Although methods that decide what to remove have been proposed, planning for the…

In this paper, we present a method of multi-robot motion planning by biasing centralized, sampling-based tree search with decentralized, data-driven steer and distance heuristics. Over a range of robot and obstacle densities, we evaluate…

There is a lot of waste in an industrial environment that could cause harmful effects to both the products and the workers resulting in product defects, itchy eyes or chronic obstructive pulmonary disease, etc. While automative cleaning…

We consider a large-scale multi-robot path planning problem in a cluttered environment. Our approach achieves real-time replanning by dividing the workspace into cells and utilizing a hierarchical planner. Specifically, we propose novel…

The unique properties of radar sensors, such as their robustness to adverse weather conditions, make them an important part of the environment perception system of autonomous vehicles. One of the first steps during the processing of radar…