相关论文: Multi-Arm Bin-Picking in Real-Time: A Combined Tas…

We present new models of optimization-based task and motion planning (TAMP) for robotic pick-and-place (P&P), which plan action sequences and motion trajectory with low computational costs. We improved an existing state-of-the-art TAMP…

This paper proposes a novel robotic hand design for assembly tasks. The idea is to combine two simple grippers -- an inner gripper which is used for precise alignment, and an outer gripper which is used for stable holding. Conventional…

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…

Autonomous robots are widely utilized for mapping and exploration tasks due to their cost-effectiveness. Multi-robot systems offer scalability and efficiency, especially in terms of the number of robots deployed in more complex…

This paper explores the problem of autonomous, in-hand regrasping--the problem of moving from an initial grasp on an object to a desired grasp using the dexterity of a robot's fingers. We propose a planner for this problem which alternates…

In human-made scenarios, robots need to be able to fully operate objects in their surroundings, i.e., objects are required to be functionally grasped rather than only picked. This imposes very strict constraints on the object pose such that…

Multi-agent Pickup and Delivery (MAPD) is a challenging industrial problem where a team of robots is tasked with transporting a set of tasks, each from an initial location and each to a specified target location. Appearing in the context of…

This work proposes a fast heuristic algorithm for the coupled scheduling and trajectory planning of multiple Cartesian robotic arms harvesting fruits. Our method partitions the workspace, assigns fruit-picking sequences to arms, determines…

At modern warehouses, mobile robots transport packages and drop them into collection bins/chutes based on shipping destinations grouped by, e.g., the ZIP code. System throughput, measured as the number of packages sorted per unit of time,…

Robotic grasping in cluttered environments is often infeasible due to obstacles preventing possible grasps. Then, pre-grasping manipulation like shifting or pushing an object becomes necessary. We developed an algorithm that can learn, in…

Motion planning is a crucial component of autonomous robot driving. While various trajectory datasets exist, effectively utilizing them for a target domain remains challenging due to differences in agent interactions and environmental…

We investigate the problem of coordinating two robot arms to solve non-monotone tabletop multi-object rearrangement tasks. In a non-monotone rearrangement task, complex object-object dependencies exist that require moving some objects…

Industrial bin picking for tangled-prone objects requires the robot to either pick up untangled objects or perform separation manipulation when the bin contains no isolated objects. The robot must be able to flexibly perform appropriate…

In this work, we describe a multi-object grasping benchmark to evaluate the grasping and manipulation capabilities of robotic systems in both pile and surface scenarios. The benchmark introduces three robot multi-object grasping…

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…

Recent advancements in robotics have transformed industries such as manufacturing, logistics, surgery, and planetary exploration. A key challenge is developing efficient motion planning algorithms that allow robots to navigate complex…

Solving task planning problems involving multiple objects and multiple robotic arms poses scalability challenges. Such problems involve not only coordinating multiple high-DoF arms, but also searching through possible sequences of actions…

Planning for multi-robot teams in complex environments is a challenging problem, especially when these teams must coordinate to accomplish a common objective. In general, optimal solutions to these planning problems are computationally…

Bagging operations, common in packaging and assisted living applications, are challenging due to a bag's complex deformable properties. To address this, we develop a robotic system for automated bagging tasks using an adaptive…

Reliable aerial grasping in cluttered environments remains challenging due to occlusions and collision risks. Existing aerial manipulation pipelines largely rely on centroid-based grasping and lack integration between the grasp pose…