5 papers
CollaBot: Vision-Language Guided Simultaneous Collaborative Manipulation
Kun Song, Gaoming Chen, Shentao Ma +5
One central goal of robotics is to enable robots to interact with the physical world. Traditional manipulation studies primarily focus on single robots and relatively small objects…
P2 Explore: Efficient Exploration in Unknown Cluttered Environment with Floor Plan Prediction
Kun Song, Gaoming Chen, Masayoshi Tomizuka +3
Robot exploration aims at the reconstruction of unknown environments, and it is important to achieve it with shorter paths. Traditional methods focus on optimizing the visiting ord…
Distributed Motion Control of Multiple Mobile Manipulators for Reducing Interaction Wrench in Object Manipulation
Wenhang Liu, Meng Ren, Kun Song +3
In real-world cooperative manipulation of objects, multiple mobile manipulator systems may suffer from disturbances and asynchrony, leading to excessive interaction wrenches and po…
Multi-Robot Rendezvous in Unknown Environment with Limited Communication
Kun Song, Gaoming Chen, Wenhang Liu +1
Rendezvous aims at gathering all robots at a specific location, which is an important collaborative behavior for multi-robot systems. However, in an unknown environment, it is chal…
A Novel Planning Framework for Complex Flipping Manipulation of Multiple Mobile Manipulators
Wenhang Liu, Meng Ren, Kun Song +2
During complex object manipulation, manipulator systems often face the configuration disconnectivity problem due to closed-chain constraints. Although regrasping can be adopted to…