相关论文: APEX-MR: Multi-Robot Asynchronous Planning and Exe…
Multi-robot assembly systems are becoming increasingly appealing in manufacturing due to their ability to automatically, flexibly, and quickly construct desired structural designs. However, effectively planning for these systems in a manner…
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…
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…
Mobile autonomous robots have the potential to revolutionize manufacturing processes. However, employing large robot fleets in manufacturing requires addressing challenges including collision-free movement in a shared workspace, effective…
This paper investigates the task coordination of multi-robot where each robot has a private individual temporal logic task specification; and also has to jointly satisfy a globally given collaborative temporal logic task specification. To…
An effective human-robot collaborative process results in the reduction of the operator's workload, promoting a more efficient, productive, safer and less error-prone working environment. However, the implementation of collaborative robots…
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…
This work presents Adaptive Robot Coordination (ARC), a novel hybrid framework for multi-robot motion planning (MRMP) that employs local subproblems to resolve inter-robot conflicts. ARC creates subproblems centered around conflicts, and…
Self-assembly of modular robotic systems enables the construction of complex robotic configurations to adapt to different tasks. This paper presents a framework for SMORES types of modular robots to efficiently self-assemble into tree…
We want a multi-robot team to complete complex tasks in minimum time where the locations of task-relevant objects are not known. Effective task completion requires reasoning over long horizons about the likely locations of task-relevant…
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…
Mobile edge computing (MEC) deployment in a multi-robot cooperation (MRC) system is an effective way to accomplish the tasks in terms of energy consumption and implementation latency. However, the computation and communication resources…
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…
The growing deployment of human-robot collaborative processes in several industrial applications, such as handling, welding, and assembly, unfolds the pursuit of systems which are able to manage large heterogeneous teams and, at the same…
Automating large-scale manufacturing in domains like timber construction requires multi-robot systems to manage tightly coupled spatiotemporal constraints, such as collision avoidance and process-driven deadlines. This paper introduces…
Multi-robot systems are becoming increasingly relevant within diverse application domains, such as healthcare, exploration, and rescue missions. However, building such systems is still a significant challenge, since it adds the complexities…
Planning for multi-robot teams in complex environments is a challenging problem, especially when these teams must coordinate to accomplish a common objective. In general, optimal solutions to these planning problems are computationally…
This paper develops a robotic manipulation planner for human-robot collaborative assembly. Unlike previous methods which study an independent and fully AI-equipped autonomous system, this paper explores the subtask distribution between a…
Multi-robot systems offer enhanced capability over their monolithic counterparts, but they come at a cost of increased complexity in coordination. To reduce complexity and to make the problem tractable, multi-robot motion planning (MRMP)…
For planning an assembly of a product from a given set of parts, robots necessitate certain cognitive skills: high-level planning is needed to decide the order of actuation actions, while geometric reasoning is needed to check the…