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 learning-based optimization

– Semantic SLAM with object recognition and localization

• 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.