相关论文: DBPF: A Framework for Efficient and Robust Dynamic…

Dynamic dispatching is one of the core problems for operation optimization in traditional industries such as mining, as it is about how to smartly allocate the right resources to the right place at the right time. Conventionally, the…

As entertainment robots gain popularity, the demand for natural and expressive motion, particularly in dancing, continues to rise. Traditionally, dancing motions have been manually designed by artists, a process that is both labor-intensive…

Digital fringe projection (DFP) enables micrometer-level 3D reconstruction, yet extending it to large-scale mapping remains challenging because six-degree-of-freedom pose estimation often cannot match the reconstruction's precision.…

Mobile manipulation tasks remain one of the critical challenges for the widespread adoption of autonomous robots in both service and industrial scenarios. While planning approaches are good at generating feasible whole-body robot…

This paper addresses the challenge of safe navigation for rigid-body mobile robots in dynamic environments. We introduce an analytic approach to compute the distance between a polygon and an ellipse, and employ it to construct a control…

Object pose estimation is a crucial prerequisite for robots to perform autonomous manipulation in clutter. Real-world bin-picking settings such as warehouses present additional challenges, e.g., new objects are added constantly. Most of the…

In this paper, we examine the problem of push recovery for bipedal robot locomotion and present a reactive decision-making and robust planning framework for locomotion resilient to external perturbations. Rejecting perturbations is an…

Classifier chains are an effective technique for modeling label dependencies in multi-label classification. However, the method requires a fixed, static order of the labels. While in theory, any order is sufficient, in practice, this order…

Deep learning-based grasp prediction models have become an industry standard for robotic bin-picking systems. To maximize pick success, production environments are often equipped with several end-effector tools that can be swapped…

Many possible fields of application of robots in real world settings hinge on the ability of robots to grasp objects. As a result, robot grasping has been an active field of research for many years. With our publication we contribute to the…

Diffusion policies generate robot motions by learning to denoise action-space trajectories conditioned on observations. These observations are commonly streams of RGB images, whose high dimensionality includes substantial task-irrelevant…

Planning collision-free paths for multi-robot systems (MRS) is a challenging problem because of the safety and efficiency constraints required for real-world solutions. Even though coupled path planning approaches provide optimal…

A novel approach for the fusion of detection scores from disparate object detection methods is proposed. In order to effectively integrate the outputs of multiple detectors, the level of ambiguity in each individual detection score (called…

We consider a variant of the classical Bin Packing Problem, called Fully Dynamic Bin Packing. In this variant, items of a size in $(0,1]$ must be packed in bins of unit size. In each time step, an item either arrives or departs from the…

In this paper, we tackle the problem of category-level 9D pose estimation in the wild, given a single RGB-D frame. Using supervised data of real-world 9D poses is tedious and erroneous, and also fails to generalize to unseen scenarios.…

Recent advances allow for the automation of food preparation in high-throughput environments, yet the successful deployment of these robots requires the planning and execution of quick, robust, and ultimately collision-free behaviors. In…

Continuum robots, characterized by their high flexibility and infinite degrees of freedom (DoFs), have gained prominence in applications such as minimally invasive surgery and hazardous environment exploration. However, the intrinsic…

The traditional Artificial Potential Field (APF) method exhibits limitations in its force distribution: excessive attraction when UAVs are far from the target may cause collisions with obstacles, while insufficient attraction near the goal…

Motion generation in cluttered, dense, and dynamic environments is a central topic in robotics, rendered as a multi-objective decision-making problem. Current approaches trade-off between safety and performance. On the one hand, reactive…

This paper addresses the problem of autonomous robot navigation in unknown, obstacle-filled environments with second-order dynamics by proposing a Dissipative Avoidance Feedback (DAF). Compared to the Artificial Potential Field (APF), which…