We describe a method for multirobot trajectory planning in known, obstacle-rich
environments. We demonstrate our approach on a quadrotor swarm navigating in a …

Human cognition plays a critical role in construction work, particularly in the context of high-
level task planning and in-field improvisation. On the other hand, robots are adept at …

Wire arc additive manufacturing (WAAM) is highly suitable for low-cost and high-efficiency
repair of large damaged components as a low energy consumption and sustainable …

The open motion planning library (OMPL) is a new library for sampling-based motion
planning, which contains implementations of many state-of-the-art planning algorithms. The …

We introduce Pinocchio, an open-source software framework that implements rigid body
dynamics algorithms and their analytical derivatives. Pinocchio does not only include …

In this paper, we present CHOMP (covariant Hamiltonian optimization for motion planning),
a method for trajectory optimization invariant to reparametrization. CHOMP uses functional …

Developing robot agnostic software frameworks involves synthesizing the disparate fields of
robotic theory and software engineering while simultaneously accounting for a large …

Sequential robot grasping of transparent objects, where a robot removes objects one by one
from a workspace, is important in many industrial and household scenarios. We propose …

In a future intelligent factory, a robotic manipulator must work efficiently and safely in a
Human–Robot collaborative and dynamic unstructured environment. Autonomous path …

This paper presents a new method to fabricate 3D models on a robotic printing system
equipped with multi-axis motion. Materials are accumulated inside the volume along curved …