相关论文: Cooperative Modular Manipulation with Numerous Cab…
Robotic manipulation in complex scenes demands precise perception of task-relevant details, yet fixed or suboptimal viewpoints often impair fine-grained perception and induce occlusions, constraining imitation-learned policies. We present…
Quadrotors equipped with cable-suspended loads represent a versatile, low-cost, and energy efficient solution for aerial transportation, construction, and manipulation tasks. However, their real-world deployment is hindered by several…
Robotic manipulation research has investigated contact-rich problems and strategies that require robots to intentionally collide with their environment, to accomplish tasks that cannot be handled by traditional collision-free solutions. By…
Multi-Agent Aerial Load Transport Systems (MAATS) offer greater payload capacity and fault tolerance than single-drone solutions. However, they have an underdetermined tension allocation problem that leads to uneven energy distribution,…
High risk of a collision between rotor blades and the obstacles in a complex environment imposes restrictions on the aerial manipulators. To solve this issue, a novel system cable-Suspended Aerial Manipulator (SAM) is presented in this…
Heavy goods vehicles are vital backbones of the supply chain delivery system but also contribute significantly to carbon emissions with only 60% loading efficiency in the United Kingdom. Collaborative vehicle routing has been proposed as a…
With the stringent requirement of receiving video from unmanned aerial vehicle (UAV) from anywhere in the stadium of sports events and the significant-high per-cell throughput for video transmission to virtual reality (VR) users, a…
Shifting from traditional control strategies to Deep Reinforcement Learning (RL) for legged robots poses inherent challenges, especially when addressing real-world physical constraints during training. While high-fidelity simulations…
This paper presents a scheme to enhance payload manipulation using a robot collaborating with an overhead crane. In the current industrial practice, when the crane's payload has to be accurately manipulated and located in a desired…
We propose a combined method for the collaborative transportation of a suspended payload by a team of rotorcraft. A recent distance-based formation-motion control algorithm based on assigning distance disagreements among robots generates…
Legged manipulators extend robotic capabilities beyond static manipulation by integrating agile locomotion with versatile arm control. However, achieving precise manipulation while maintaining coordinated locomotion remains a major…
Multi-robot teams can achieve more dexterous, complex and heavier payload tasks than a single robot, yet effective collaboration is required. Multi-robot collaboration is extremely challenging due to the different kinematic and dynamics…
Multi-robot Coverage Path Planning (MCPP) addresses the problem of computing paths for multiple robots to effectively cover a large area of interest. Conventional approaches to MCPP typically assume that robots move at fixed velocities,…
Transporting objects using quadrotors with cables has been widely studied in the literature. However, most of those approaches assume that the cables are previously attached to the load by human intervention. In tasks where multiple objects…
In this paper, we present a novel trajectory planning algorithm for cooperative manipulation with multiple quadrotors using control barrier functions (CBFs). Our approach addresses the complex dynamics of a system in which a team of…
Highly constrained manipulation tasks continue to be challenging for autonomous robots as they require high levels of precision, typically less than 1mm, which is often incompatible with what can be achieved by traditional perception…
This paper addresses the problem of multi-robot coordination for complex manipulation task sequences. We present a vision-driven task-and-motion planning (TAMP) framework for a real dual-agent platform that integrates task decomposition and…
We address multi-robot geometric task-and-motion planning (MR-GTAMP) problems in synchronous, monotone setups. The goal of the MR-GTAMP problem is to move objects with multiple robots to goal regions in the presence of other movable…
Modern humanoid robots have shown their promising potential for executing various tasks involving the grasping and manipulation of objects using their end-effectors. Nevertheless, in the most of the cases, the grasping and manipulation…
Transporting objects using aerial robots has been widely studied in the literature. Still, those approaches always assume that the connection between the quadrotor and the load is made in a previous stage. However, that previous stage…