23 papers
Robotic Nonprehensile Object Transportation with a Hanging Tray
Adam Heins, Angela P. Schoellig
We consider the nonprehensile object transportation task known as the waiter's problem, in which a robot must move an object balanced on a tray from one location to another. In con…
SM2ITH: Safe Mobile Manipulation with Interactive Human Prediction via Task-Hierarchical Bilevel Model Predictive Control
Francesco D'Orazio, Sepehr Samavi, Xintong Du +3
Mobile manipulators are designed to perform complex sequences of navigation and manipulation tasks in human-centered environments. While recent optimization-based methods such as H…
Hierarchical Task Model Predictive Control for Sequential Mobile Manipulation Tasks
Xintong Du, Siqi Zhou, Angela P. Schoellig
Mobile manipulators are envisioned to serve more complex roles in people's everyday lives. With recent breakthroughs in large language models, task planners have become better at t…
Perceptive Hierarchical-Task MPC for Sequential Mobile Manipulation in Unstructured Semi-Static Environments
Xintong Du, Jingxing Qian, Siqi Zhou +1
As compared to typical mobile manipulation tasks, sequential mobile manipulation poses a unique challenge -- as the robot operates over extended periods, successful task completion…
Sensor Query Schedule and Sensor Noise Covariances for Accuracy-constrained Trajectory Estimation
Abhishek Goudar, Angela P. Schoellig
Trajectory estimation involves determining the trajectory of a mobile robot by combining prior knowledge about its dynamic model with noisy observations of its state obtained using…
Decentralized and Fully Onboard: Range-Aided Cooperative Localization and Navigation on Micro Aerial Vehicles
Abhishek Goudar, Angela P. Schoellig
Controlling a team of robots in a coordinated manner is challenging because centralized approaches (where all computation is performed on a central machine) scale poorly, and globa…