Task and Motion Planning

Planning Grasping Motions for Humanoid Robots

Rosell J., Suárez R., García N. and M. Ud Din, International Journal of Humanoid Robotics. Volume 16, Issue 06, pp. 1950041, ISSN (print): 0219-8436. DOI: 10.1142/S0219843619020031 Preprint of the article © [copyright World Scientific Publishing Company] [Journal https://www.worldscientific.com/worldscinet/ijhr]

Motion Planning by Demonstration with Human-Likeness Evaluation for Dual-Arm Robots

N. García, J. Rosell and R. Suárez, IEEE Transactions on Systems, Man, and Cybernetics: Systems,Issue Date: November 2019, Vol 49 (11), pp. 2298-2307, ISSN: 2168-2216, Online Publication: 30 October 2017, DOI: 10.1109/TSMC.2017.2756856

A Tool for Knowledge-oriented Physics-based Motion Planning and Simulation

Muhayyuddin, A. Akbari, J. Rosell and W. M. Qazi, in Recent Trends and Advances in Wireless and IoT-enabled Networks, Chapter 29, pp. 329-340, M. A. Jan, F. Khan, M. Alam Editors, Springer International Publishing 2019, DOI: 10.1007/978-3-319-99966-1

Knowledge-oriented task and motion planning for multiple mobile robots

A. Akbari, Muhayyuddin, J.Rosell. Journal of Experimental & Theoretical Artificial Intelligence, Vol 31 (1), pp. 137-162, 2019, DOI: 10.1080/0952813X.2018.1544280.

Combined heuristic task and motion planning for bi-manual robots

A. Akbari, F. Laggrifoul, J. Rosell, Autonomous Robots, Published online: 26 October 2018, DOI: 10.1007/s10514-018-9817-3

Planning Hand-Arm Grasping Motions with Human-Like Appearance

N. García, R. Suárez, J. Rosell, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), Madrid, Spain, October 1-5, 2018. (Finalist for the ICROS Award to the Best Application Paper) .

Assembly Planning in Cluttered Environments through Heterogeneous Reasoning

D. Beßler, M. Pomarlan, A. Akbari, Muhayyuddin , M. Diab, J.Rosell , J. Bateman, M. Beetz, In: Trollmann F., Turhan AY. (eds) KI 2018: Advances in Artificial Intelligence. KI 2018. Lecture Notes in Computer Science, vol 11117. Springer, Cham. DOI: 10.1007/978-3-030-00111-7_18

kPMP-Enhancing Physics-based Motion Planners with Knowledge-based Reasoning

Muhayyuddin, A. Akbari and J. Rosell. Journal of Intelligent & Robotic Systems, Sept. 2018, Volume 91, Issue 3–4, pp 459–477, DOI: 10.1007/s10846-017-0698-z, Springer Nature SharedIt full-text view-only version at: http://rdcu.be/v7Fc

Modeling Human-Likeness in Approaching Motions of Dual-Arm Autonomous Robots

Néstor Garcı́a, Jan Rosell and Raúl Suárez, 2018 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), Brisbane, Australia, May 16-19, p.91-96, ISBN: 2978-1-5386-5973-1

Randomized Physics-based Motion Planning for Grasping in Cluttered and Uncertain Environments

Muhayyuddin, M. Moll, L. E. Kavraki, J. Rosell, IEEE Robotics and Automation Letters, Volume 3, Issue 2, April 2018, pp. 712-719 ISSN: 2377-3766, DOI: 10.1109/LRA.2017.2783445

An Ontology Framework for Physics-Based Manipulation Planning

M. Diab, Muhayyuddin, A. Akbari and J. Rosell. In: Ollero A., Sanfeliu A., Montano L., Lau N., Cardeira C. (eds) ROBOT 2017: Third Iberian Robotics Conference. ROBOT 2017. Advances in Intelligent Systems and Computing, vol 693. Springer, Cham DOI: 10.1007/978-3-319-70833-1_37

Knowledge-Oriented Physics-Based Motion Planning for Grasping Under Uncertainty

Muhayyuddin, A. Akbari and J. Rosell. In: Ollero A., Sanfeliu A., Montano L., Lau N., Cardeira C. (eds) ROBOT 2017: Third Iberian Robotics Conference. ROBOT 2017. Advances in Intelligent Systems and Computing, vol 693. Springer, Cham DOI: 10.1007/978-3-319-70833-1_41

Physics-based Motion Planning with Temporal Logic Specifications

Muhayyuddin, A. Akbari and J. Rosell. 20th IFAC World congress, Toulouse, France July 9-14 2017. IFAC-PapersOnLine (ISSN: 2405-8963), pp. 8993-8999, vol 50 (1), DOI: 10.1016/j.ifacol.2017.08.1578

First-Order Synergies for Motion Planning of Anthropomorphic Dual-Arm Robots

N. García, R. Suárez and J. Rosell. 20th IFAC World congress, Toulouse, France July 9-14 2017. IFAC-PapersOnLine (ISSN: 2405-8963) p. 2247-2254, vol 50 (1), DOI: 10.1016/j.ifacol.2017.08.187

Aplicación de algoritmos RRT en la planificación de movimientos óptimos en robótica

N. García, J. Rosell and R. suárez Proceedings of the 12th Metahuristics International Conference (MIC'17) - Congreso Español de Metaheurísticas, Algoritmos Evolutivos y Bioinspirados (MAEB'17) (ISBN 978-84-697-4275-1), Barcelona, Spain, July 4-7, 2010, pp. 953 – 962

Mobile Manipulators as Robot Co-workers Autonomy and Interaction in The Human-Robot Collaboration

J. Rosell, E. Nuño, J.A. Claret, I. Zaplana, N. García, A. Akbari, Muhayyuddin, L. Palomo, A. Pérez, O. Mas , L. Basañez, Libro de Actas de las Jornadas Nacionales de Robótica 2017 (ISBN 978-84-697-3742-2), Valencia, Spain, June 8-9, 2017.

Task-Dependent Synergies for Motion Planning of an Anthropomorphic Dual-Arm System

N. García, R. Suárez and J. Rosell, IEEE Transactions on Robotics, Vol 33, Issue 3, June 2017, pp. 756-764, (ISSN 1552-3098), DOI: 10.1109/TRO.2017.2676131

Physics-Based Motion Planning: Evaluation Criteria and Benchmarking

Muhayyuddin , A. Akbari and J. Rosell,"Physics-Based Motion Planning: Evaluation Criteria and Benchmarking", Robot 2015: Second Iberian Robotics Conference, Springer, Advances in Robotics, Volume 1 (ISBN 978-3-319-27146-0), pp. 43-55.

Reasoning-Based Evaluation of Manipulation Actions for Efficient Task Planning

A. Akbari, Muhayyuddin and J. Rosell,"Reasoning-Based Evaluation of Manipulation Actions for Efficient Task Planning", Robot 2015: Second Iberian Robotics Conference, Springer, Advances in Robotics, Volume 1 (ISBN 978-3-319-27146-0), pp. 69-80.

Motion planning using first-order synergies

N. García, J. Rosell, R. Suárez, in Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, (ISBN: 978-1-4799-9994-1), Hamburg, Germany, September 28-October 2, 2015, pp. 2058 - 2063.

Using Synergies in Dual-Arm Manipulation Tasks

R. Suárez, J. Rosell and N. García, in Proceedings of the IEEE International Conference on Robotics and Automation, (ISBN: 978-1-4799-6922-7), Seattle, Washington, USA, 26-30th May 2015, pp. 5655-5661

Integrated Grasp and Motion Planning using Independent Contact Regions

J. Fontanals, B.-A. Dang-Vu, O. Porges, J. Rosell and M. A. Roa, Proceedings of the 2014 IEEE-RAS International Conference on Humanoid Robots, (ISBN: 978-1-4799-7173-2), November 18-20th 2014. Madrid. Spain, pp. 887-893.

Using hand synergies as an optimality criterion for planning human-like motions for mechanical hands

J. Rosell and R. Suárez, Proceedings of the 2014 IEEE-RAS International Conference on Humanoid Robots, (ISBN: 978-1-4799-7173-2), November 18-20th 2014. Madrid. Spain, pp. 232-237.

The Kautham Project: A teaching and research tool for robot motion planning

J. Rosell, A. Pérez, A. Akbari, Muhayyuddin, L. Palomo and N. García, in Proceedings of the 19th IEEE International Conference on Emerging Technologies and Factory Automation, (ISBN: 978-1-4799-4846-8), Barceloan 16-19th September 2014.

cRRT*: Planning loosely-coupled motions for multiple mobile robots

J. Rosell and R. Suárez, in Proceedings of the 19th IEEE International Conference on Emerging Technologies and Factory Automation, (ISBN: 978-1-4799-4846-8), Barceloan 16-19th September 2014.

Path planning for grasping operations using an adaptive PCA-based sampling method

Rosell J., Suárez R. and A. Pérez, "Autonomous Robots", 2013, Volume 35, Number 1, pp. 27-36, doi={10.1007/s10514-013-9332-5}, ISSN 0929-5593. The final publication is available at link.springer.com

Using path planning techniques to improve airway tree segmentation from CT images

Paolo Cabras and Jan Rosell. Proceedings of the 6th Int. Conference on Bio-inspiered systems and signal Processing, BIOSIGNALS 2013, (ISBN: 978-989-8565-36-5), Baercelona, Spain, February 11-14, 2013, pp. 189-195

Motion Planning for the Virtual Bronchoscopy

J. Rosell, A. Pérez, P. Cabras and A. Rosell Proceedings of the 2012 IEEE Int. Conference on Robotics and Automation, ICRA’12, (ISBN CFP12RAA-USB), St. Paul, Minessota, USA, May 14-18, 2012, pp. 2932– 2937

Planificación de movimientos para conjuntos mano-brazo con numerosos grados de libertad

R. Suárez y J. Rosell; ROBOT 2011 Robótica Experimental, Sevilla, España, Noviembre 28-29, 2011, pp. 512-519.

Importance Sampling based on Adaptive Principal Component Analysis

J. Rosell, L. Cruz, R. Suárez and A. Pérez, Proceedings of the IEEE International Symposium on Assembly and Manufacturing, ISAM 2011, Tampere, Finland, 25-27 May, 2011.