相关论文: Toward Efficient Task Planning for Dual-Arm Tablet…

This paper studies the challenge of developing robots capable of understanding under-specified instructions for creating functional object arrangements, such as "set up a dining table for two"; previous arrangement approaches have focused…

We focus on the task of object manipulation to an arbitrary goal pose, in which a robot is supposed to pick an assigned object to place at the goal position with a specific orientation. However, limited by the execution space of the…

Task and motion planning (TAMP) for multi-robot systems, which integrates discrete task planning with continuous motion planning, remains a challenging problem in robotics. Existing TAMP approaches often struggle to scale effectively for…

This paper develops a robotic manipulation planner for human-robot collaborative assembly. Unlike previous methods which study an independent and fully AI-equipped autonomous system, this paper explores the subtask distribution between a…

Producing robust task plans in human-robot collaborative missions is a critical activity in order to increase the likelihood of these missions completing successfully. Despite the broad research body in the area, which considers different…

We study a multi-robot assignment problem for multi-target tracking. The proposed problem can be viewed as the mixed packing and covering problem. To deal with a limitation on both sensing and communication ranges, a distributed approach is…

Non-monotone object rearrangement planning in confined spaces such as cabinets and shelves is a widely occurring but challenging problem in robotics. Both the robot motion and the available regions for object relocation are highly…

High degree-of-freedom dual-arm robots are becoming increasingly common due to their morphology enabling them to operate effectively in human environments. However, motion planning in real-time within unknown, changing environments remains…

Automated bin-picking is a prerequisite for fully automated manufacturing and warehouses. To successfully pick an item from an unstructured bin the robot needs to first detect possible grasps for the objects, decide on the object to remove…

We present a method to apply heuristic search algorithms to solve rearrangement planning by pushing problems. In these problems, a robot must push an object through clutter to achieve a goal. To do this, we exploit the fact that contact…

Task allocation is a key combinatorial optimization problem, crucial for modern applications such as multi-robot cooperation and resource scheduling. Decision makers must allocate entities to tasks reasonably across different scenarios.…

Recent years have seen an increasing number of deployment of fleets of autonomous vehicles. As the problem scales up, in terms of autonomous vehicles number and complexity of their objectives, there is a growing need for decision-support…

We introduce a new problem formulation, Double-Deck Multi-Agent Pickup and Delivery (DD-MAPD), which models the multi-robot shelf rearrangement problem in automated warehouses. DD-MAPD extends both Multi-Agent Pickup and Delivery (MAPD) and…

Multi-robot planning and coordination in uncertain environments is a fundamental computational challenge, since the belief space increases exponentially with the number of robots. In this paper, we address the problem of planning in…

This paper presents two types of extended diffeomorphism designs to compensate for spatial placement differences between robot workspaces. Teleoperation of multiple robots is attracting attention to expand the utilization of the robot…

Task and motion planning are long-standing challenges in robotics, especially when robots have to deal with dynamic environments exhibiting long-term dynamics, such as households or warehouses. In these environments, long-term dynamics…

Motion planning with simple objectives, such as collision-avoidance and goal-reaching, can be solved efficiently using modern planners. However, the complexity of the allowed tasks for these planners is limited. On the other hand, signal…

Flexible object manipulation of paper and cloth is a major research challenge in robot manipulation. Although there have been efforts to develop hardware that enables specific actions and to realize a single action of paper folding using…

Transferring multiple objects between bins is a common task for many applications. In robotics, a standard approach is to pick up one object and transfer it at a time. However, grasping and picking up multiple objects and transferring them…

Complex manipulation tasks, such as rearrangement planning of numerous objects, are combinatorially hard problems. Existing algorithms either do not scale well or assume a great deal of prior knowledge about the environment, and few offer…