Cooperative Sequential Composition Control for Compliant Manipulation: An Approach via "Robot Contact Language"

A convoluted manipulation task involves extensive planning and the use of a supervisory controller to execute the desired task. One controller specification is generally unsuitable to perform the complete manipulation task. Manipulation involves contact of the object being manipulated with robots, surfaces and other objects in the scenario. The...

Gaining by forgetting: Towards long-term mobile robot autonomy in large scale environments using a novel hybrid metric-topological mapping system

The emerging of mobile robots in everyday life scenarios, such as in the case of domestic care robots, is highly anticipated. Much research has been carried out to make robots more capable of performing tasks in our everyday environments. Despite major progress over the last decades, many hurdles are still to be taken. In the field of robotic...