Noisy sensing, imperfect control, and environment changes are defining characteristics of
many real-world robot tasks. The partially observable Markov decision process (POMDP) …

In this survey, we present the current status on robots performing manipulation tasks that
require varying contact with the environment, such that the robot must either implicitly or …

As there come to be more applications of intelligent robots, their task object is becoming
more varied. However, it is still a challenge for a robot to handle unfamiliar objects. We …

Recent approaches in robot perception follow the insight that perception is facilitated by
interaction with the environment. These approaches are subsumed under the term …

In shared autonomy, a user and autonomous system work together to achieve shared goals.
To collaborate effectively, the autonomous system must know the user's goal. As such, most …

In shared autonomy, user input and robot autonomy are combined to control a robot to
achieve a goal. Often, the robot does not know a priori which goal the user wants to achieve …

This article presents an offline solution and online approximation to the hybrid control
problem of planar non-prehensile manipulation. Hybrid dynamics and underactuation are …

Most manipulation tasks can be decomposed into a sequence of phases, where the robot's
actions have different effects in each phase. The robot can perform actions to transition …

Robotic motion planning problems are typically solved by constructing a search tree of valid
maneuvers from a start to a goal configuration. Limited onboard computation and real-time …

Robot planning is the process of selecting a sequence of actions that optimize for a task=
specific objective. For instance, the objective for a navigation task would be to find collision …