research
∙
06/24/2023
Push-MOG: Efficient Pushing to Consolidate Polygonal Objects for Multi-Object Grasping
Recently, robots have seen rapidly increasing use in homes and warehouse...
share
research
∙
06/01/2022
Multi-Object Grasping in the Plane
We consider the problem where multiple rigid convex polygonal objects re...
research
∙
05/18/2021
Robust Physics-Based Manipulation by Interleaving Open and Closed-Loop Execution
We present a planning and control framework for physics-based manipulati...
research
∙
11/06/2020
Occlusion-Aware Search for Object Retrieval in Clutter
We address the manipulation task of retrieving a target object from a cl...
research
∙
04/02/2020
Human-Guided Planner for Non-Prehensile Manipulation
We present a human-guided planner for non-prehensile manipulation in clu...
research
∙
02/28/2020
Human-like Planning for Reaching in Cluttered Environments
Humans, in comparison to robots, are remarkably adept at reaching for ob...
research
∙
02/28/2020
Introducing a Human-like Planner for Reaching in Cluttered Environments
Humans, in comparison to robots, are remarkably adept at reaching for ob...
research
∙
06/18/2019
Chemotaxis Based Virtual Fence for Swarm Robots in Unbounded Environments
This paper presents a novel swarm robotics application of chemotaxis beh...
research
∙
06/17/2019
Simple Swarm Foraging Algorithm Based on Gradient Computation
Swarm foraging is a common test case application for multi-robot systems...
research
∙
04/07/2019
Non-Prehensile Manipulation in Clutter with Human-In-The-Loop
We propose a human-operator guided planning approach to pushing-based ro...
research
∙
04/03/2019
Learning Physics-Based Manipulation in Clutter: Combining Image-Based Generalization and Look-Ahead Planning
Physics-based manipulation in clutter involves complex interaction betwe...
research
∙
03/20/2019
Combining Coarse and Fine Physics for Manipulation using Parallel-in-Time Integration
We present a method for fast and accurate physics-based predictions duri...
research
∙
07/24/2018
Real-Time Online Re-Planning for Grasping Under Clutter and Uncertainty
We consider the problem of grasping in clutter. While there have been mo...
research
∙
05/08/2018
Pushing Fast and Slow: Task-Adaptive MPC for Pushing Manipulation Under Uncertainty
We propose a model predictive control approach to pushing based manipula...
research
∙
03/21/2018