相关论文: Efficient Task Planning for Mobile Manipulation: a…
Motion planning involves determining a sequence of robot configurations to reach a desired pose, subject to movement and safety constraints. Traditional motion planning finds collision-free paths, but this is overly restrictive in clutter,…
This paper focuses on the motion planning for mobile robots in 3D, which are modelled by 6-DOF rigid body systems with nonholonomic kinematics constraints. We not only specify the target position, but also bring in the requirement of the…
Temporal planning is an extension of classical planning involving concurrent execution of actions and alignment with temporal constraints. Durative actions along with invariants allow for modeling domains in which multiple agents operate in…
As an important branch of embodied artificial intelligence, mobile manipulators are increasingly applied in intelligent services, but their redundant degrees of freedom also limit efficient motion planning in cluttered environments. To…
The challenge in combined task and motion planning (TAMP) is the effective integration of a search over a combinatorial space, usually carried out by a task planner, and a search over a continuous configuration space, carried out by a…
In existing task and motion planning (TAMP) research, it is a common assumption that experts manually specify the state space for task-level planning. A well-developed state space enables the desirable distribution of limited computational…
The paper proposes a more formalized definition of UML 2.0 Activity Diagram semantics. A subset of activity diagram constructs relevant for business process modeling is considered. The semantics definition is based on the original token…
We introduce a modeling framework for manipulation planning based on the formulation of the dynamics as a projected dynamical system. This method uses implicit signed distance functions and their gradients to formulate an equivalent…
Dexterous in-hand manipulation in robotics, particularly with multi-fingered robotic hands, poses significant challenges due to the intricate avoidance of collisions among fingers and the object being manipulated. Collision-free paths for…
World model based planning has significantly improved decision-making in complex environments by enabling agents to simulate future states and make informed choices. This computational burden is particularly restrictive in robotics, where…
Mobile manipulators are finding use in numerous practical applications. The current issues with mobile manipulation are the large state space owing to the mobile base and the challenge of modeling high degree of freedom systems. It is…
In this thesis, we propose an alternative characterization of the notion of Configuration Space, which we call Visual Configuration Space (VCS). This new characterization allows an embodied agent (e.g., a robot) to discover its own body…
Contact-based decision and planning methods are becoming increasingly important to endow higher levels of autonomy for legged robots. Formal synthesis methods derived from symbolic systems have great potential for reasoning about high-level…
This paper presents a framework that allows online dynamic-stability-constrained optimal trajectory planning of a mobile manipulator robot working on rough terrain. First, the kinematics model of a mobile manipulator robot, and the Zero…
Manipulation planning and control are relevant building blocks of a robotic system and their tight integration is a key factor to improve robot autonomy and allows robots to perform manipulation tasks of increasing complexity, such as those…
Solving complex, long-horizon robotic manipulation tasks requires a deep understanding of physical interactions, reasoning about their long-term consequences, and precise high-level planning. Vision-Language Models (VLMs) offer a general…
In this paper, we present a real-time whole-body planner for collision-free legged mobile manipulation. We enforce both self-collision and environment-collision avoidance as soft constraints within a Model Predictive Control (MPC) scheme…
Symbolic planning can provide an intuitive interface for non-expert users to operate autonomous robots by abstracting away much of the low-level programming. However, symbolic planners assume that the initially provided abstract domain and…
Motion planning is a mature area of research in robotics with many well-established methods based on optimization or sampling the state space, suitable for solving kinematic motion planning. However, when dynamic motions under constraints…
Planning motions to grasp an object in cluttered and uncertain environments is a challenging task, particularly when a collision-free trajectory does not exist and objects obstructing the way are required to be carefully grasped and moved…