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— An important logistics application of robotics involves manipulators that pick-and-place objects placed in warehouse shelves. A critical aspect of this task corresponds to detecting the pose of a known object in the shelf using visual data. Solving this problem can be assisted by the use of an RGB-D sensor, which also provides depth information beyond(More)
This paper describes a software infrastructure for developing and composing task and motion planners. The functionality of motion planners is well defined and they provide a basic primitive on top of which it is possible to develop planners for addressing higher level tasks. It is more challenging, however, to identify a common interface for task planners,(More)
— This work proposes a method for efficiently computing manipulation paths to rearrange similar objects in a cluttered space. Rearrangement is a challenging problem as it involves combinatorially large, continuous configuration spaces due to the presence of multiple bodies and kinematically complex manipulators. This work leverages ideas from multi-robot(More)
This work performs an experimental study on the legibility of paths executed by a manipulation arm available on a Baxter robot. In this context, legibility is defined as the ability of people to effectively predict the target of the arm's motion. Paths that are legible can improve the collaboration of robots with humans since they allow people to(More)
—This work proposes a method for effectively computing manipulation paths to rearrange similar objects in a cluttered space. The solution can be used to place similar products in a factory floor in a desirable arrangement or for retrieving a particular object from a shelf blocked by similarly sized objects. These are challenging problems as they involve(More)
This paper studies two end-effector modalities for warehouse picking: (i) a recently developed, underactuated three-finger hand and (ii) a custom built, vacuum-based gripper. The two systems differ on how they pick objects. The first tool provides increased flexibility, while the vacuum alternative is simpler and smaller. The aim is to show how the(More)
—Previous work on load balance has focused on the single handoff from a congested base station to a neighboring base station, within the range of possible single handoff. However, with the view of congestion in mobile networks which is liable to make the neighboring base stations congested as well, conventional methods fail to balance the load optimally and(More)
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