93 citations · 407 across the 82 of their papers we have counts for
6 papers · 1 filter
Model Predictive Control of Tensegrity Robots via Contact-Aware Graph Neural Dynamics Model
Nelson Chen, Patrick Meng, Charles Tang +5
Tensegrity robots offer lightweight, compliant mobility over challenging terrain but remain difficult to model and control due to complex contact-rich dynamics and partial observab…
Complete, Scalable, and Robust Prioritized Planning for Multi-Robot Ordered Storage and Retrieval at Maximum Capacity
William Zhang, Tzvika Geft, Jingjin Yu +1
Automated warehouses face a fundamental trade-off between maximizing storage density and achieving high retrieval throughput. While puzzle-based storage (PBS) architectures increas…
State and Trajectory Estimation of Tensegrity Robots via Factor Graphs and Chebyshev Polynomials
Edgar Granados, Patrick Meng, Charles Tang +4
Tensegrity robots offer compliance and adaptability, but their nonlinear, and underconstrained dynamics make state estimation challenging. Reliable continuous-time estimation of al…
Foundation Models in Robotics: A Comprehensive Review of Methods, Models, Datasets, Challenges and Future Research Directions
Aggelos Psiris, Vasileios Argyriou, Evangelos K. Markakis +5
Over the recent years, the field of robotics has been undergoing a transformative paradigm shift from fixed, single-task, domain-specific solutions towards adaptive, multi-function…
CableRobotGraphSim: A Graph Neural Network for Modeling Partially Observable Cable-Driven Robot Dynamics
Nelson Chen, William R. Johnson, Rebecca Kramer-Bottiglio +2
General-purpose simulators have accelerated the development of robots. Traditional simulators based on first-principles, however, typically require full-state observability or depe…
Robust Out-of-Order Retrieval for Grid-Based Storage at Maximum Capacity
Tzvika Geft, William Zhang, Jingjin Yu +1
This paper proposes a framework for improving the operational efficiency of automated storage systems under uncertainty. It considers a 2D grid-based storage for uniform-sized load…