6 accepted papers
Disassembly is a critical challenge in maintenance and service tasks, particularly in high-precision operations such as electric vehicle (EV) battery recycling. Tasks like prying-open sealed battery covers require precise manipulation and controlled force application. In our approach we collect huma
Multi-robot systems are becoming increasingly prevalent in various real-world applications, such as manufacturing and warehouse logistics. These systems face complex challenges in 1) task allocation due to factors like time-extended tasks, and agent specialization, and 2) uncertainties in task execu…
We address the challenge of transferring human preferences for action selection from simpler source tasks to complex target tasks. Our goal is to enable robots to support humans proactively by predicting their actions — without requiring demonstrations of their preferred action sequences in the targ
In manufacturing, minimizing operational delays is crucial for efficiency and resilience. Therefore, efficiently handling contingencies is essential in human-robot teams working on assembly (i.e., collaborative assembly) applications. This paper introduces a novel approach to generating contingency…
We consider the problem of task assignment and scheduling for human-robot teams to enable the efficient completion of complex problems, such as satellite assembly. In high-mix, low volume settings, we must enable the human-robot team to handle uncertainty due to changing task requirements, potential…
We present a novel concept of a heterogeneous, distributed platform for autonomous 3D construction. The platform is composed of two types of robots acting in a coordinated and complementary fashion: (i) A collection of communicating smart construction blocks behaving as a form of growable smart matt