相关论文: Optimal and Stable Multi-Layer Object Rearrangemen…

The floor layout problem (FLP) tasks a designer with positioning a collection of rectangular boxes on a fixed floor in such a way that minimizes total communication costs between the components. While several mixed integer programming (MIP)…

We consider the problem of grasping in clutter. While there have been motion planners developed to address this problem in recent years, these planners are mostly tailored for open-loop execution. Open-loop execution in this domain,…

Controller design for bipedal walking on dynamic rigid surfaces (DRSes), which are rigid surfaces moving in the inertial frame (e.g., ships and airplanes), remains largely uninvestigated. This paper introduces a hierarchical control…

As smart homes become more prevalent in daily life, the ability to understand dynamic environments is essential which is increasingly dependent on AI systems. This study focuses on developing an intelligent algorithm which can navigate a…

In this paper, we propose the Ordered Median Tree Location Problem (OMT). The OMT is a single-allocation facility location problem where p facilities must be placed on a network connected by a non-directed tree. The objective is to minimize…

We develop an algorithm for the motion and task planning of a system comprised of multiple robots and unactuated objects under tasks expressed as Linear Temporal Logic (LTL) constraints. The robots and objects evolve subject to uncertain…

Robotic assembly planning enables architects to explicitly account for the assembly process during the design phase, and enables efficient building methods that profit from the robots' different capabilities. Previous work has addressed…

Machine learning in production needs to balance multiple objectives: This is particularly evident in ranking or recommendation models, where conflicting objectives such as user engagement, satisfaction, diversity, and novelty must be…

This work aims to leverage instructional video to solve complex multi-step task-and-motion planning tasks in robotics. Towards this goal, we propose an extension of the well-established Rapidly-Exploring Random Tree (RRT) planner, which…

We study the problem of placing a grasped object on an empty flat surface in an upright orientation, such as placing a cup on its bottom rather than on its side. We aim to find the required object rotation such that when the gripper is…

For lattice modular self-reconfigurable robots (MSRRs), maintaining stable connections during reconfiguration is crucial for physical feasibility and deployability. This letter presents a novel self-reconfiguration planning algorithm for…

This paper presents a topology optimization framework for structural problems subjected to transient loading. The mechanical model assumes a linear elastic isotropic material, infinitesimal strains, and a dynamic response. The optimization…

How can we imbue robots with the ability to manipulate objects precisely but also to reason about them in terms of abstract concepts? Recent works in manipulation have shown that end-to-end networks can learn dexterous skills that require…

This paper presents a comprehensive methodology for modeling an on-orbit assembly mission scenario of a large flexible structure using a multi-arm robot. This methodology accounts for significant changes in inertia and flexibility…

This paper proposes a novel framework for humanoid robots to execute inspection tasks with high efficiency and millimeter-level precision. The approach combines hierarchical planning, time-optimal standing position generation, and…

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…

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…

Manipulation in cluttered environments is challenging due to spatial dependencies among objects, where an improper manipulation order can cause collisions or blocked access. Existing approaches often overlook these spatial relationships,…

The block relocation problem (BRP) is a fundamental operational issue in modern warehouse and yard management, which, however, is very challenging to solve. In this paper, to advance our understanding on this problem and to provide a…

Robotic Manipulation Surfaces (RMS) manipulate objects by deforming the surface on which they rest, offering safe, parallel handling of diverse and fragile items. However, existing designs face a fundamental tradeoff: achieving fine control…