6 accepted papers
Flexible manufacturing requires rapid deployment of solutions and minimal setup time to remain competitive. An essential attribute is the ability to control error levels, as failures can range from minor performance degradation to severe equipment damage. However, conventional deployment often invol…
In many applications, a mobile manipulator robot is required to grasp a set of objects distributed in space. This may not be feasible from a single base pose and the robot must plan the sequence of base poses for grasping all objects, minimizing the total navigation and grasping time. This is a Comb…
In Mobile Manipulation (MM), navigation and manipulation are generally solved as subsequent disjoint tasks. Combined optimization of navigation and manipulation costs can improve the time efficiency of MM. However, this is challenging as precise object pose estimates, which are necessary for such co
The ability to track the 6D pose distribution of an object when a mobile manipulator robot is still approaching the object can enable the robot to pre-plan grasps that combine base and arm motion. However, tracking a 6D object pose distribution from a distance can be challenging due to the limited v…
Vision systems are often used jointly with robotic manipulators to perform automated tasks in industrial applications. Still, the correct set up of such workcells is difficult and requires significant resources. One of the main challenges, when implementing such systems in industrial use cases, is t…
This paper discusses various optimization schemes for partly stochastic and bound optimization, particular with application to solve robotic optimization problems, where robustness of the solutions is crucial. The use case revolves around grasping and manipulation of deformable objects. These kinds