Adaptive and Intelligent Robotics Lab

Current Research Activities:

– Continuous Coverage Motion for Constrained Manipulation

S. McGovern and J. Xiao, “A General Approach for Constrained Robotic Coverage Path Planning on 3D Freeform Surfaces,” IEEE Transactions on Automation Science and Engineering, 2023. DOI: 10.1109/TASE.2023.3313228
S. McGovern and J. Xiao, “UV Grid Generation on 3D Freeform Surfaces for Constrained Robotic Coverage Path Planning,” IEEE International Conference on Automation Science and Engineering, Aug. 2022.
S. McGovern and J. Xiao, “Efficient Feasibility Checking on Continuous Coverage Motion for Constrained Manipulation,” IEEE International Conference on Automation Science and Engineering, Aug. 2021.

– Complex manipulation combining perception, planning, and learning

S. Cao, and J. Xiao, “On Efficient and Flexible Autonomous Robotic Insertion Assembly in the Presence of Uncertainty,” IEEE Robotics and Automation Letters, July 2024.
R. Venkataramanan, Z. Ma, J. Xiao, S. Farzan, “Perception-Driven Robotic Manipulation for Packaging Stack of Envelopes: Gripper Design and Manipulation Strategies,” IEEE/ASME International Conference on Advanced Intelligent Mechatronics, July 2024.
S. Cao, and J. Xiao, “Human-Robot Complementary Collaboration for Flexible and Precision Assembly,” IEEE International Conference on Robotics and Automation, May 2024.
Z. Ma and J. Xiao, “Robotic Perception-motion Synergy for Novel Rope Wrapping Tasks,” IEEE Robotics and Automation Letters, vol. 8, no. 7, pp. 4131–4138, July 2023.
S. Cao and J. Xiao, “A General Method for Autonomous Assembly of Arbitrary Parts in the Presence of Uncertainty,” IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct. 2022.

– Learning object properties through perception and manipulation

S. Hyland, J. Xiao, and C. Onal, “Predicting Center of Mass by Iterative Pushing for Object Transportation and Manipulation,” IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct. 2023.
S. McGovern and J. Xiao, “Learning and Predicting Center of Mass through Manipulation and Torque Sensing,” 2022 8th International Conference on Mechatronics and Robotics Engineering (ICMRE), pp. 60-66, 2022.
S. McGovern, H. Mao, and J. Xiao, “Learning to Estimate Centers of Mass of Arbitrary Objects,” 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1848-1853, 2019.

– Real-time adaptive motion planning with semantic SLAM for search and localize objects in unknown environments

Z. Qian, J. Fu, and J. Xiao, “Simultaneously Search and Localizing Semantic Objects in Unknown Environments,” IEEE Robotics and Automation Letters, October 2024.
Z. Qian, J. Fu, and J. Xiao, “Towards Accurate Loop Closure Detection in Semantic SLAM with 3D Semantic Covisibility Graphs,” IEEE Robotics and Automation Letters and ICRA 2022.
Z. Qian, K. Patath, J. Fu, and J. Xiao, “Semantic SLAM with Autonomous Object-Level Data Association,” IEEE International Conference on Robotics and Automation, May 2021.