13 accepted papers
This document presents the outcomes of the Dagstuhl Seminar "Roadmap for Responsible Robotics," held in September 2023 at the Leibniz Centre for Informatics, Schloss Dagstuhl, Germany. The seminar brought together researchers from Robotics, Computer Science, Social and Cognitive Sciences, and Philos…
In this paper, we tackle real-time formation trajectory planning for collaborative object transportation in complex environments using a team of nonholonomic robots and a human. The object is transported in a deformable sheet, and robots should follow the human’s lead while autonomously avoiding obs…
Modelling environments as grids is a common approach in robotics, particularly for coverage path planning tasks, where the goal is to fully traverse an area or visit key points. In this paper, we introduce a new variant of coverage planning, inspired by applications such as open-pit mining, harvesti
In this paper, we address multi-robot formation planning where nonholonomic robots collaboratively transport objects using a deformable sheet in unstructured, cluttered environments. The formation can expand or contract to adjust the height of the object on the sheet. However, interactions between t
Behaviour trees (BTs) are popular within robotics due to their reactivity, reusability, and modularity. BTs are often designed by hand using expert domain knowledge. However, robot environments contain sources of uncertainty which affect robot behaviour. It is challenging for human designers to reas
A common task in cinematography is tracking a subject or character through a scene. For complex setups, multiple cameras must track the subject simultaneously to attain sufficient coverage. Recently, researchers have considered using multiple camera-mounted autonomous mobile robots for this task. Ex
This letter explores a variation of the Traveling Salesperson Problem, where the agent places a circular obstacle next to each node once it visits it. Referred to as the Traveling Salesperson Problem with Circle Placement (TSP-CP), the aim is to maximize the obstacle radius for which a valid closed
This paper deals with Multi-robot Trajectory Planning, that is, the problem of computing trajectories for multiple robots navigating in a shared space while minimizing for control energy. Approaches based on trajectory optimization can solve this problem optimally. However, such methods are hampered…
This paper addresses the problem of automating fleets of robots with non-holonomic dynamics. Previously studied methods either specialize in facets of this problem, that is, one or a combination of multi-robot goal allocation, motion planning, and coordination, and typically acrifice optimality and…
Modern lightweight dual-arm robots bring the physical capabilities to quickly take over tasks at typical industrial workplaces designed for workers. Low setup times - including the instructing/specifying of new tasks - are crucial to stay competitive. We propose a constraint programming approach to…
This paper is concerned with automating fleets of autonomous robots. This involves solving a multitude of problems, including goal assignment, motion planning, and coordination, while maximizing some performance criterion. While methods for solving these sub-problems have been studied, they address…
We introduce a variant of the multi-vehicle routing problem which accounts for nonholonomic constraints and dense, dynamic obstacles, called MVRP-DDO. The problem is strongly motivated by an industrial mining application. This paper illustrates how MVRP-DDO relates to other extensions of the vehicle…
Plan-based robot control has to consider a multitude of aspects of tasks at once, such as task dependency, time, space, and resource usage. Hybrid planning is a strategy for treating them jointly. However, by incorporating all these aspects into a hybrid planner, its search space is huge by construc…