4 papers
Multi-Robot Multi-Goal Motion Planning with Stochastic Skills
William Schnyder, Valentin N. Hartmann, Stelian Coros
As robots are increasingly deployed in groups and share workspaces to execute real-world tasks, planning their concurrent motions around complex manipulation skills becomes essenti…
WRAP: Fixtureless Wrench-aware Multi-Robot Assembly Planning
Valentin N. Hartmann, Huang Su, Yijiang Huang +1
Assembly using robots often requires specially designed fixtures, or relies on top-down only assembly strategies. Using multiple robots, we can avoid using fixtures and make roboti…
A comparison of visual representations for real-world reinforcement learning in the context of vacuum gripping
Nico Sutter, Valentin N. Hartmann, Stelian Coros
When manipulating objects in the real world, we need reactive feedback policies that take into account sensor information to inform decisions. This study aims to determine how diff…
Sampling-Based Multi-Modal Multi-Robot Multi-Goal Path Planning
Valentin N. Hartmann, Tirza Heinle, Yijiang Huang +1
In many robotics applications, multiple robots are working in a shared workspace to complete a set of tasks as fast as possible. Such settings can be treated as multi-modal multi-r…