11 papers
Human-Guided Planner for Non-Prehensile Manipulation
Rafael Papallas, Mehmet R. Dogar
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 re…
Human-like Planning for Reaching in Cluttered Environments
Mohamed Hasan, Matthew Warburton, Wisdom C. Agboh +6
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 configurat…
Parareal with a Learned Coarse Model for Robotic Manipulation
Wisdom Agboh, Oliver Grainger, Daniel Ruprecht +1
A key component of many robotics model-based planning and control algorithms is physics predictions, that is, forecasting a sequence of states given an initial state and a sequence…
Chemotaxis Based Virtual Fence for Swarm Robots in Unbounded Environments
Simon O. Obute, Mehmet R. Dogar, Jordan H. Boyle
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 ar…
Simple Swarm Foraging Algorithm Based on Gradient Computation
Simon O. Obute, Mehmet R. Dogar, Jordan H. Boyle
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 a…
Non-Prehensile Manipulation in Clutter with Human-In-The-Loop
Rafael Papallas, Mehmet R. Dogar
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 pr…