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Skill Sequence Planning for Collaborative Multi-Robot Construction
Xi Wang, Bo Fu, Carol C. Menassa +2
Robots have significant potential to automate construction processes. However, their industry adoption remains limited, partly because of the programming effort required to adapt r…
KUKAloha: A General, Low-Cost, and Shared-Control based Teleoperation Framework for Construction Robot Arm
Yifan Xu, Qizhang Shen, Vineet Kamat +1
This paper presents KUKAloha, a general, low-cost, and shared-control teleoperation framework designed for construction robot arms. The proposed system employs a leader-follower pa…
OpenGuide: Assistive Object Retrieval in Indoor Spaces for Individuals with Visual Impairments
Yifan Xu, Qianwei Wang, Vineet Kamat +1
Indoor built environments like homes and offices often present complex and cluttered layouts that pose significant challenges for individuals who are blind or visually impaired, es…
CoNav Chair: Development and Evaluation of a Shared Control based Wheelchair for the Built Environment
Yifan Xu, Qianwei Wang, Jordan Lillie +3
As the global population of people with disabilities (PWD) continues to grow, so will the need for mobility solutions that promote independent living and social integration. Wheelc…
OVAMOS: A Framework for Open-Vocabulary Multi-Object Search in Unknown Environments
Qianwei Wang, Yifan Xu, Vineet Kamat +1
Object search is a fundamental task for robots deployed in indoor building environments, yet challenges arise due to observation instability, especially for open-vocabulary models.…
CoNav Chair: Design of a ROS-based Smart Wheelchair for Shared Control Navigation in the Built Environment
Yifan Xu, Qianwei Wang, Jordan Lillie +2
With the number of people with disabilities (PWD) increasing worldwide each year, the demand for mobility support to enable independent living and social integration is also growin…
Interoceptive Robots for Convergent Shared Control in Collaborative Construction Work
Xiaoshan Zhou, Carol C. Menassa, Vineet R. Kamat
Building autonomous mobile robots (AMRs) with optimized efficiency and adaptive capabilities-able to respond to changing task demands and dynamic environments-is a strongly desired…
Point2Graph: An End-to-end Point Cloud-based 3D Open-Vocabulary Scene Graph for Robot Navigation
Yifan Xu, Ziming Luo, Qianwei Wang +2
Current open-vocabulary scene graph generation algorithms highly rely on both 3D scene point cloud data and posed RGB-D images and thus have limited applications in scenarios where…