相关论文: Multi-Objective Trajectory Planning for a Robotic …

Multi-objective optimization (MOO) has received growing attention in applications that require learning under multiple criteria. However, the existing MOO formulations do not explicitly account for distributional shifts in the data. We…

Many day-to-day activities require the dexterous manipulation of a redundant humanoid arm in complex 3D environments. However, position regulation of such robot arm systems becomes very difficult in presence of non-linear uncertainties in…

Precise calibration is the basis for the vision-guided robot system to achieve high-precision operations. Systems with multiple eyes (cameras) and multiple hands (robots) are particularly sensitive to calibration errors, such as…

Drones are effective for reducing human activity and interactions by performing tasks such as exploring and inspecting new environments, monitoring resources and delivering packages. Drones need a controller to maintain stability and to…

We present the ongoing development of a robotic system for overhead work such as ceiling drilling. The hardware platform comprises a mobile base with a two-stage lift, on which a bimanual torso is mounted with a custom-designed drilling end…

Collision avoidance is a widely investigated topic in robotic applications. When applying collision avoidance techniques to a mobile robot, how to deal with the spatial structure of the robot still remains a challenge. In this paper, we…

In this paper, we study the problem of manipulation skill acquisition for performing construction activities consisting of repetitive tasks (e.g., building a wall or installing ceiling tiles). Our approach involves setting up a simulated…

Multi-objective optimization is central to many engineering and machine learning applications, where multiple objectives must be optimized in balance. While multi-gradient based optimization methods combine these objectives in each step,…

Planning a motion for inserting pegs remains an open problem. The difficulty lies in both the inevitable errors in the grasps of a robotic hand and absolute precision problems in robot joint motors. This paper proposes an integral method to…

NSGA-III is a prominent algorithm in evolutionary many-objective optimization. It is particularly well suited for optimizing problems with more than three objectives, distinguishing it from the classical NSGA-II. However, theoretical…

Generating high-quality motion plans for multiple robot arms is challenging due to the high dimensionality of the system and the potential for inter-arm collisions. Traditional motion planning methods often produce motions that are…

The automation of internal logistics and inventory-related tasks is one of the main challenges of modern-day manufacturing corporations since it allows a more effective application of their human resources. Nowadays, Autonomous Mobile…

Time-jerk optimal trajectory planning is crucial in advancing robotic arms' performance in dynamic tasks. Traditional methods rely on solving complex nonlinear programming problems, bringing significant delays in generating optimized…

Path planning is one of the most vital elements of mobile robotics. With a priori knowledge of the environment, global path planning provides a collision-free route through the workspace. The global path plan can be calculated with a…

Performing highly agile acrobatic motions with a long flight phase requires perfect timing, high accuracy, and coordination of the full-body motion. To address these challenges, we present a novel approach on timings and trajectory…

Long-term monitoring of numerous dynamic targets can be tedious for a human operator and infeasible for a single robot, e.g., to monitor wild flocks, detect intruders, search and rescue. Fleets of autonomous robots can be effective by…

We consider a new variant of the multi-robot task allocation problem - Inverse Risk-sensitive Multi-Robot Task Allocation (IR-MRTA). "Forward" MRTA - the process of deciding which robot should perform a task given the reward (cost)-related…

Many real-world functions are defined over both categorical and category-specific continuous variables and thus cannot be optimized by traditional Bayesian optimization (BO) methods. To optimize such functions, we propose a new method that…

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…

Many problems in robotics seek to simultaneously optimize several competing objectives under constraints. A conventional approach to solving such multi-objective optimization problems is to create a single cost function comprised of the…