Zobrazeno 1 - 10
of 24
pro vyhledávání: '"Han, Shuai D."'
Autor:
Han, Shuai D., Yu, Jingjin
We perform a systematic exploration of the principle of Space Utilization Optimization (SUO) as a heuristic for planning better individual paths in a decoupled multi-robot path planner, with applications to both one-shot and life-long multi-robot pat
Externí odkaz:
http://arxiv.org/abs/2109.04677
This paper considers the problem of retrieving an object from many tightly packed objects using a combination of robotic pushing and grasping actions. Object retrieval in dense clutter is an important skill for robots to operate in households and eve
Externí odkaz:
http://arxiv.org/abs/2105.02857
In this work, we systematically examine the application of spatio-temporal splitting heuristics to the Multi-Robot Motion Planning (MRMP) problem in a graph-theoretic setting: a problem known to be NP-hard to optimally solve. Following the divide-and
Externí odkaz:
http://arxiv.org/abs/2103.14111
We propose a Deep Interaction Prediction Network (DIPN) for learning to predict complex interactions that ensue as a robot end-effector pushes multiple objects, whose physical properties, including size, shape, mass, and friction coefficients may be
Externí odkaz:
http://arxiv.org/abs/2011.04692
We investigate the task and motion planning problem of clearing clutter from a workspace with limited ingress/egress access for multiple robots. We call the problem multi-robot clutter removal (MRCR). Targeting practical applications where motion pla
Externí odkaz:
http://arxiv.org/abs/2007.04856
Robotic pick-and-place (PnP) operations on moving conveyors find a wide range of industrial applications. In practice, simple greedy heuristics (e.g., prioritization based on the time to process a single object) are applied that achieve reasonable ef
Externí odkaz:
http://arxiv.org/abs/1912.08009
Publikováno v:
2019 Robotics: Science and Systems
We investigate the problem of optimally assigning a large number of robots (or other types of autonomous agents) to guard the perimeters of closed 2D regions, where the perimeter of each region to be guarded may contain multiple disjoint polygonal ch
Externí odkaz:
http://arxiv.org/abs/1905.04434
Autor:
Han, Shuai D., Yu, Jingjin
We propose a novel centralized and decoupled algorithm, DDM, for solving multi-robot path planning problems in grid graphs, targeting on-demand and automated warehouse-like settings. Two settings are studied: a traditional one whose objective is to m
Externí odkaz:
http://arxiv.org/abs/1904.02598
Autor:
Han, Shuai D., Yu, Jingjin
Integer programming (IP) has proven to be highly effective in solving many path-based optimization problems in robotics. However, the applications of IP are generally done in an ad-hoc, problem specific manner. In this work, after examined a wide ran
Externí odkaz:
http://arxiv.org/abs/1902.02652
We push the limit in planning collision-free motions for routing uniform labeled discs in two dimensions. First, from a theoretical perspective, we show that the constant-factor time-optimal routing of labeled discs can be achieved using a polynomial
Externí odkaz:
http://arxiv.org/abs/1807.03347