相关论文: Improving Human-Robot Collaboration via Computatio…
There is invariably a trade-off between safety and efficiency for collaborative robots (cobots) in human-robot collaborations. Robots that interact minimally with humans can work with high speed and accuracy but cannot adapt to new tasks or…
Sampling-based motion planning algorithms have been continuously developed for more than two decades. Apart from mobile robots, they are also widely used in manipulator motion planning. Hence, these methods play a key role in collaborative…
Utilizing robotic systems in the construction industry is gaining popularity due to their build time, precision, and efficiency. In this paper, we introduce a system that allows the coordination of multiple manipulator robots for…
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…
Efficient robotic extraterrestrial exploration requires robots with diverse capabilities, ranging from scientific measurement tools to advanced locomotion. A robotic team enables the distribution of tasks over multiple specialized…
The rise of automation has provided an opportunity to achieve higher efficiency in manufacturing processes, yet it often compromises the flexibility required to promptly respond to evolving market needs and meet the demand for…
Trust between team members is an essential requirement for any successful cooperation. Thus, engendering and maintaining the fellow team members' trust becomes a central responsibility for any member trying to not only successfully…
Spatial computing -- the ability of devices to be aware of their surroundings and to represent this digitally -- offers novel capabilities in human-robot interaction. In particular, the combination of spatial computing and egocentric…
A common task in robotics is unloading identical goods from a tray with rectangular grid structure. This naturally leads to the idea of programming the process at one grid position only and translating the motion to the other grid points,…
We present a versatile framework for the computational co-design of legged robots and dynamic maneuvers. Current state-of-the-art approaches are typically based on random sampling or concurrent optimization. We propose a novel bilevel…
Multi-robot decision-making is the process where multiple robots coordinate actions. In this paper, we aim for efficient and effective multi-robot decision-making despite the robots' limited on-board resources and the often…
Collaboration requires coordination, and we coordinate by anticipating our teammates' future actions and adapting to their plan. In some cases, our teammates' actions early on can give us a clear idea of what the remainder of their plan is,…
Human review of consequential decisions by face recognition algorithms creates a "collaborative" human-machine system. Individual differences between people and machines, however, affect whether collaboration improves or degrades accuracy…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
The Industry 4.0 paradigm promises shorter development times, increased ergonomy, higher flexibility, and resource efficiency in manufacturing environments. Collaborative robots are an important tangible technology for implementing such a…
Cooperative table-carrying is a complex task due to the continuous nature of the action and state-spaces, multimodality of strategies, and the need for instantaneous adaptation to other agents. In this work, we present a method for…
Planning smooth and energy-efficient motions for wheeled mobile robots is a central task for applications ranging from autonomous driving to service and intralogistic robotics. Over the past decades, a wide variety of motion planners, steer…
Numerical optimization of complex systems benefits from the technological development of computing platforms in the last twenty years. Unfortunately, this is still not enough, and a large computational time is still necessary when…
Challenges of enhancing productivity by amplifying efficiency and man-machine compatibility of equipment can be achieved by adopting advanced technologies. This study aims to present and exemplify methodology for incorporating ergonomics…
Robotic performance emerges from the coupling of body and controller, yet it remains unclear when morphology-control co-design is necessary. We present a unified framework that embeds morphology and control parameters within a single neural…