We propose a novel approach to multi-robot collaboration that harnesses the power of pre-
trained large language models (LLMs) for both high-level communication and low-level path …

Many exciting robotic applications require multiple robots with many degrees of freedom,
such as manipulators, to coordinate their motion in a shared workspace. Discovering high …

This paper addresses the problem of finding robot configurations to grasp assembly parts
during a sequence of collaborative assembly operations. We formulate the search for such …

Manipulating multiple movable obstacles is a hard problem that involves searching high-
dimensional C-spaces. A milestone method for this problem was able to compute solutions …

In this article, we present a multi-robot task and motion planning method that, when applied
to the rearrangement of objects by manipulators, results in solution times up to three orders …

Solving task planning problems involving multiple objects and multiple robotic arms poses
scalability challenges. Such problems involve not only coordinating multiple high-DoF arms …

This article presents a software platform tailored for prehensile manipulation planning
named humanoid path planner. The platform implements an original way of modeling …

Discovering high-quality paths for multirobot problems can be achieved, in principle, by
exploring the composite space of all robots. For instance, sampling-based algorithms that …

Automation applications are pushing the deployment of many high DoF manipulators in
warehouse and manufacturing environments. This has motivated many efforts on optimizing …

This paper deals with manipulation planning. First, we propose a new tool called the
constraint graph to describe the various motion constraints relative to a manipulation …