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cs.RO2024
Anticipatory Task and Motion Planning
Roshan Dhakal, Duc M. Nguyen, Tom Silver +2
We consider a sequential task and motion planning (tamp) setting in which a robot is assigned continuous-space rearrangement-style tasks one-at-a-time in an environment that persis…
cs.RO2024
Human-Robot Co-Transportation using Disturbance-Aware MPC with Pose Optimization
Al Jaber Mahmud, Amir Hossain Raj, Duc M. Nguyen +3
This paper proposes a new control algorithm for human-robot co-transportation using a robot manipulator equipped with a mobile base and a robotic arm. We integrate the regular Mode…