This letter introduces GARMI, a service robotics platform conceptualized with a focus on
assisting elderly at home. GARMI is designed to provide support with household tasks, as an …

We consider a novel problem where multiple rigid convex polygonal objects rest in randomly
placed positions and orientations on a planar surface visible from an overhead camera. The …

We propose a tree search-based planning algorithm for a robot manipulator to rearrange
objects and grasp a target in a dense space. We consider environments where tasks cannot …

This article presents a dual fast marching tree algorithm that consists of constrained fast
marching tree planning in a Cartesian space (C_FMT∗) and human-like fast marching tree …

We consider a decluttering problem where multiple rigid convex polygonal objects rest in
randomly placed positions and orientations on a planar surface and must be efficiently …

Robotic manipulators navigating cluttered shelves or cabinets may find it challenging to
avoid contact with obstacles. Indeed, rearranging obstacles may be necessary to access a …

Recently, robots have seen rapidly increasing use in homes and warehouses to declutter by
collecting objects from a planar surface and placing them into a container. While current …

A key component of many robotics model-based planning and control algorithms is physics
predictions, that is, forecasting a sequence of states given an initial state and a sequence of …

We present the “Busboy Problem”: automating an efficient decluttering of cups, bowls, and
silverware from a planar surface. As grasping and transporting individual items is highly …

In the lateral access environment, the robot be-havior should be planned considering
surrounding objects and obstacles because object observation directions and approach …