Now showing items 1-19 of 19

    • A lightweight perception module for planning purposes 

      Ud Din, Muhayy; Rosell Gratacòs, Jan; Bukhari, Sohail; Ahmad, Mansoor; Qazi, Wajahat Mahmood (Institute of Electrical and Electronics Engineers (IEEE), 2020)
      Conference lecture
      Open Access
      Sensing is an essential component for robots to perform the manipulation tasks in real environments. This study proposes a lightweight deep-learning-based sensing modules which allows the robots to automatically model the ...
    • A tool for knowledge-oriented physics-based motion planning and simulation 

      Ud Din, Muhayy; Akbari, Aliakbar; Rosell Gratacòs, Jan; Qazi, Wajahat Mahmood (2019)
      Part of book or chapter of book
      Open Access
      The book covers a variety of topics in Information and Communications Technology (ICT) and their impact on innovation and business. The authors discuss various innovations, business and industrial motivations, and impact ...
    • An Ontology Framework for Physics-Based Manipulation Planning 

      Diab, Mohammed; Ud Din, Muhayy; Akbari, Aliakbar; Rosell Gratacòs, Jan (Springer, 2017)
      Conference report
      Restricted access - publisher's policy
      In manipulation planning, dynamic interactions between the objects and the robots play a significant role. In this scope, dynamic engines allow to consider them within motion planners, giving rise to physics-based motion ...
    • Assembly planning in cluttered environments through heterogeneous reasoning 

      Beßler, Daniel; Pomarlan, Mihai; Akbari, Aliakbar; Ud Din, Muhayy; Diab, Mohammed; Rosell Gratacòs, Jan; Bateman, John; Beetz, Michael (Springer, 2018)
      Conference lecture
      Open Access
      Assembly recipes can elegantly be represented in description logic theories. With such a recipe, the robot can figure out the next assembly step through logical inference. However, before performing an action, the robot ...
    • Integrated task and motion planning using physics-based heuristics 

      Akbari, Aliakbar; Ud Din, Muhayy; Rosell Gratacòs, Jan (2016)
      Conference lecture
      Open Access
      —This work presents a knowledge-based task and motion planning framework based on a version of the FastForward task planner. A reasoning process on symbolic literals in terms of knowledge and geometric information about ...
    • k-PMP: enhancing physics-based motion planners with knowledge-based reasoning 

      Ud Din, Muhayy; Rosell Gratacòs, Jan; Akbari, Aliakbar (2017-09-22)
      Article
      Open Access
      Physics-based motion planning is a challenging task, since it requires the computation of the robot motions while allowing possible interactions with (some of) the obstacles in the environment. Kinodynamic motion planners ...
    • Knowledge-Oriented Physics-Based Motion Planning for Grasping Under Uncertainty 

      Ud Din, Muhayy; Akbari, Aliakbar; Rosell Gratacòs, Jan (Springer, 2017)
      Conference report
      Restricted access - publisher's policy
      Grasping an object in unstructured and uncertain environments is a challenging task, particularly when a collision-free trajectory does not exits. High-level knowledge and reasoning processes, as well as the allowing of ...
    • Knowledge-oriented task and motion planning for multiple mobile robots 

      Akbari, Aliakbar; Ud Din, Muhayy; Rosell Gratacòs, Jan (2019-01-04)
      Article
      Open Access
      Robotic systems composed of several mobile robots moving in human environments pose several problems at perception, planning and control levels. In these environments, there may be obstacles obstructing the paths, which ...
    • Learning Action-oriented grasping for manipulation 

      Ud Din, Muhayy; Sarwar, M Usman; Zahoor, Imran; Qazi, Wajahat M; Rosell Gratacòs, Jan (Institute of Electrical and Electronics Engineers (IEEE), 2019)
      Conference lecture
      Restricted access - publisher's policy
      Complex manipulation tasks require grasping strategies that simultaneously satisfy the stability and the semantic constraints that have to be satisfied for an action to be feasible, referred as action-oriented semantic ...
    • Mobile manipulators as robot co-workers: autonomy and interaction in the human-robot collaboration 

      Rosell Gratacòs, Jan; Nuño, Emmanuel; Claret, Josep A.; Zaplana Agut, Isiah; García Hidalgo, Néstor; Akbari, Aliakbar; Ud Din, Muhayy; Palomo Avellaneda, Leopold; Pérez Ruiz, Alexander; Mas Casals, Orestes Miquel; Basañez Villaluenga, Luis (Comité Español de Automática (CEA-IFAC), 2017)
      Conference lecture
      Restricted access - publisher's policy
      In work environments, the use of dexterous mobile manipulators as co-workers poses several challenges with respect to the human-robot collaboration. On the one hand, its focus is in the autonomy (i.e. the mobile manipulators ...
    • Ontological physics-based motion planning for manipulation 

      Ud Din, Muhayy; Akbari, Aliakbar; Rosell Gratacòs, Jan (Institute of Electrical and Electronics Engineers (IEEE), 2015)
      Conference report
      Restricted access - publisher's policy
      Robotic manipulation involves actions where contacts occur between the robot and the objects. In this scope, the availability of physics-based engines allows motion planners to comprise dynamics between rigid bodies, which ...
    • Physics-based motion planning for grasping and manipulation 

      Ud Din, Muhayy (Universitat Politècnica de Catalunya, 2018-12-04)
      Doctoral thesis
      Open Access
      This thesis develops a series of knowledge-oriented physics-based motion planning algorithms for grasping and manipulation in cluttered an uncertain environments. The main idea is to use high-level knowledge-based reasoning ...
    • Physics-based Motion Planning with Temporal Logic Specifications 

      Ud Din, Muhayy; Akbari, Aliakbar; Rosell Gratacòs, Jan (2017-07-01)
      Conference lecture
      Open Access
      One of the main foci of robotics is nowadays centered in providing a great degree of autonomy to robots. A fundamental step in this direction is to give them the ability to plan in discrete and continuous spaces to find ...
    • Physics-based motion planning: evaluation criteria and benchmarking 

      Ud Din, Muhayy; Akbari, Aliakbar; Rosell Gratacòs, Jan (Springer, 2015)
      Conference report
      Restricted access - publisher's policy
      Motion planning has evolved from coping with simply geometric problems to physics-based ones that incorporate the kinodynamic and the physical constraints imposed by the robot and the physical world. Therefore, the criteria ...
    • Planning grasping motions for humanoid robots 

      Rosell Gratacòs, Jan; Suárez Feijóo, Raúl; García, Néstor; Ud Din, Muhayy (2019-12-15)
      Article
      Open Access
      This paper addresses the problem of obtaining the required motions for a humanoid robot to perform grasp actions trying to mimic the coordinated hand–arm movements humans do. The first step is the data acquisition and ...
    • PMK : a knowledge processing framework for autonomous robotics perception and manipulation 

      Diab, Mohammed; Akbari, Aliakbar; Ud Din, Muhayy; Rosell Gratacòs, Jan (Multidisciplinary Digital Publishing Institute (MDPI), 2019-03-07)
      Article
      Open Access
      Autonomous indoor service robots are supposed to accomplish tasks, like serve a cup, which involve manipulation actions. Particularly, for complex manipulation tasks which are subject to geometric constraints, spatial ...
    • Reasoning-based evaluation of manipulation actions for efficient task planning 

      Akbari, Aliakbar; Ud Din, Muhayy; Rosell Gratacòs, Jan (Springer, 2015)
      Conference lecture
      Restricted access - publisher's policy
      To cope with the growing complexity of manipulation tasks, the way to combine and access information from high- and low-planning levels has recently emerged as an interesting challenge in robotics. To tackle this, the ...
    • Task and motion planning using physics-based reasoning 

      Akbari, Aliakbar; Ud Din, Muhayy; Rosell Gratacòs, Jan (Institute of Electrical and Electronics Engineers (IEEE), 2015)
      Conference report
      Restricted access - publisher's policy
      For everyday manipulation tasks, the combination of task and motion planning is required regarding the need of providing the set of possible subtasks which have to be done and how to perform them. Since many alternative ...
    • The Kautham Project: A teaching and research tool for robot motion planning 

      Rosell Gratacòs, Jan; Pérez Ruiz, Alexander; Akbari, Aliakbar; Ud Din, Muhayy; Palomo Avellaneda, Leopold; García Hidalgo, Néstor (Institute of Electrical and Electronics Engineers (IEEE), 2014)
      Conference lecture
      Open Access
      This paper presents the software tool used at the Institute of Industrial and Control Engineering (IOC-UPC) for teaching and research in robot motion planning. The tool allows to cope with problems with one or more robots, ...