Zobrazeno 1 - 10
of 55
pro vyhledávání: '"Dogar, Mehmet R"'
Recently, robots have seen rapidly increasing use in homes and warehouses to declutter by collecting objects from a planar surface and placing them into a container. While current techniques grasp objects individually, Multi-Object Grasping (MOG) can
Externí odkaz:
http://arxiv.org/abs/2306.14021
We consider a novel problem where multiple rigid convex polygonal objects rest in randomly placed positions and orientations on a planar surface visible from an overhead camera. The objective is to efficiently grasp and transport all objects into a b
Externí odkaz:
http://arxiv.org/abs/2206.00229
Publikováno v:
In Structures June 2024 64
Autor:
Agboh, Wisdom C., Dogar, Mehmet R.
We present a planning and control framework for physics-based manipulation under uncertainty. The key idea is to interleave robust open-loop execution with closed-loop control. We derive robustness metrics through contraction theory. We use these met
Externí odkaz:
http://arxiv.org/abs/2105.08325
We address the manipulation task of retrieving a target object from a cluttered shelf. When the target object is hidden, the robot must search through the clutter for retrieving it. Solving this task requires reasoning over the likely locations of th
Externí odkaz:
http://arxiv.org/abs/2011.03334
Autor:
Papallas, Rafael, Dogar, Mehmet R.
We present a human-guided planner for non-prehensile manipulation in clutter. Most recent approaches to manipulation in clutter employs randomized planning, however, the problem remains a challenging one where the planning times are still in the orde
Externí odkaz:
http://arxiv.org/abs/2004.00946
Autor:
Hasan, Mohamed, Warburton, Matthew, Agboh, Wisdom C., Dogar, Mehmet R., Leonetti, Matteo, Wang, He, Mushtaq, Faisal, Mon-Williams, Mark, Cohn, Anthony G.
Humans, in comparison to robots, are remarkably adept at reaching for objects in cluttered environments. The best existing robot planners are based on random sampling of configuration space -- which becomes excessively high-dimensional with large num
Externí odkaz:
http://arxiv.org/abs/2002.12738
This paper presents a novel swarm robotics application of chemotaxis behaviour observed in microorganisms. This approach was used to cause exploration robots to return to a work area around the swarm's nest within a boundless environment. We investig
Externí odkaz:
http://arxiv.org/abs/1906.07492
Swarm foraging is a common test case application for multi-robot systems. In this paper we present a novel algorithm for controlling swarm robots with limited communication range and storage capacity to efficiently search for and retrieve targets wit
Externí odkaz:
http://arxiv.org/abs/1906.07030
Autor:
Papallas, Rafael, Dogar, Mehmet R.
We propose a human-operator guided planning approach to pushing-based manipulation in clutter. Most recent approaches to manipulation in clutter employs randomized planning. The problem, however, remains a challenging one where the planning times are
Externí odkaz:
http://arxiv.org/abs/1904.03748