相关论文: BOMP: Bin-Optimized Motion Planning

An exciting frontier in robotic manipulation is the use of multiple arms at once. However, planning concurrent motions is a challenging task using current methods. The high-dimensional composite state space renders many well-known motion…

Mobile manipulation planning commonly adopts a decoupled approach that performs planning separately on the base and the manipulator. While this approach is fast, it can generate sub-optimal paths. Another direction is a coupled approach…

Construction robots have gained significant traction in recent years in research and development. However, the application of industrial robots has unique challenges. Dynamic environments, domain-specific tasks, and complex localization and…

Generative robotic motion planning requires not only the synthesis of smooth and collision-free trajectories but also feasibility across diverse tasks and dynamic constraints. Prior planning methods, both traditional and generative, often…

Automation applications are pushing the deployment of many high DoF manipulators in warehouse and manufacturing environments. This has motivated many efforts on optimizing manipulation tasks involving a single arm. Coordinating multiple…

Robot arms with lighter weight can reduce unnecessary energy consumption which is desirable in robotic industry. However, lightweight arms undergo undesirable elastic deformation. In this paper, the planar motion of a lightweight flexible…

This work presents a motion planning framework for robotic manipulators that computes collision-free paths directly in image space. The generated paths can then be tracked using vision-based control, eliminating the need for an explicit…

Motion planning for multi-jointed robots is challenging. Due to the inherent complexity of the problem, most existing works decompose motion planning as easier subproblems. However, because of the inconsistent performance metrics, only…

Manipulating unknown objects in a cluttered environment is difficult because segmentation of the scene into objects, that is, object composition is uncertain. Due to this uncertainty, earlier work has concentrated on either identifying the…

This paper presents a hybrid robot motion planner that generates long-horizon motion plans for robot navigation in environments with obstacles. We propose a hybrid planner, RRT* with segmented trajectory optimization (RRT*-sOpt), which…

In this letter, an integrated task planning and reactive motion planning framework termed Multi-FLEX is presented that targets real-world, industrial multi-robot applications. Reactive motion planning has been attractive for the purposes of…

Neural-network-based dynamics models learned from observational data have shown strong predictive capabilities for scene dynamics in robotic manipulation tasks. However, their inherent non-linearity presents significant challenges for…

Robotic manipulators are essential for future autonomous systems, yet limited trust in their autonomy has confined them to rigid, task-specific systems. The intricate configuration space of manipulators, coupled with the challenges of…

This work presents an efficient framework to generate a motion plan of a robot with high degrees of freedom (e.g., a humanoid robot). High-dimensionality of the robot configuration space often leads to difficulties in utilizing the…

We address the problem of planning robot motions in constrained configuration spaces where the constraints change throughout the motion. The problem is formulated as a fixed sequence of intersecting manifolds, which the robot needs to…

Trajectory planning in robotics aims to generate collision-free pose sequences that can be reliably executed. Recently, vision-to-planning systems have gained increasing attention for their efficiency and ability to interpret and adapt to…

The objective of this study is to enable fast and safe manipulation tasks in home environments. Specifically, we aim to develop a system that can recognize its surroundings and identify target objects while in motion, enabling it to plan…

Applying intelligent robot arms in dynamic uncertain environments (i.e., flexible production lines) remains challenging, which requires efficient algorithms for real time trajectory generation. The motion planning problem for robot…

This paper investigates Path planning Among Movable Obstacles (PAMO), which seeks a minimum cost collision-free path among static obstacles from start to goal while allowing the robot to push away movable obstacles (i.e., objects) along its…

Predictive planning is a key capability for robots to efficiently and safely navigate populated environments. Particularly in densely crowded scenes, with uncertain human motion predictions, predictive path planning, and control can become…