Abstract: In many manufacturing applications, robotic manipulators need to operate in cluttered environments. Quickly finding high-quality paths is very important in applications that require high part fix and frequent setup changes. ...

Abstract: Robotic bin picking requires using a perception system to estimate the posture of parts in the bin. The selected singulation plan should be robust with respect to perception uncertainties. If the estimated posture is ...

Abstract: Automatically detecting surface defects from images is an essential capability in manufacturing applications. Traditional image processing techniques are useful in solving a specific class of problems. However, these ...

Abstract: We present a framework for identifying, communicating, and addressing risk in shared-autonomy mobile manipulator applications. This framework is centered on the capacity of the mobile manipulator to sense its environment, ...

Abstract: Mobile manipulators that combine base mobility with the dexterity of an articulated manipulator have gained popularity in numerous applications ranging from manufacturing and infrastructure inspection to domestic service. ...