Algorithmic Robotics & Control Lab @ Rutgers

 

2022

Rubik Tables and Object Rearrangement. M. Szegedy and J. Yu. The International Journal of Robotics Research, 2022, to appear. [bibtex]

Visual Foresight Trees for Object Retrieval From Clutter With Nonprehensile Rearrangement. B. Huang, S. D. Han, J. Yu, and A. Boularias. IEEE Robotics and Automation Letters, 7(1), pages: 231-238, 2022. [pdf] [bibtex]

2021

Capacitated Vehicle Routing with Target Geometric Constraints. K. Gao and J. Yu. 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021). [pdf] [bibtex]

Toward Fully Automated Metal Recycling Using Computer Vision and Non-Prehensile Manipulation. S. D. Han, B. Huang, S. Ding, C. Song, S. W. Feng, M. Xu, H. Lin, Q. Zou, A. Boularias, and J. Yu. 2021 IEEE International Conference on Automation Science & Engineering (CASE 2021). [pdf] [bibtex]

On Minimizing the Number of Running Buffers for Tabletop Rearrangement. K. Gao, S. W. Feng, and J Yu. 2021 Robotics: Science and Systems (RSS 2021). [pdf] [bibtex]

Rearrangement on Lattices with Pick-n-Swaps: Optimality Structures and Efficient Algorithms. J. Yu. 2021 Robotics: Science and Systems (RSS 2021). [pdf] [bibtex]

Spatial and Temporal Splitting Heuristics for Multi-Robot Motion Planning. T. Guo, S. D. Han, and J. Yu. 2021 IEEE International Conference on Robotics and Automation (ICRA 2021). [pdf] [bibtex]

Sensor Placement for Globally Optimal Coverage of 3D-Embedded Surfaces. S. W. Feng, K. Gao, J. Gong, and J. Yu. 2021 IEEE International Conference on Robotics and Automation (ICRA 2021). [pdf] [bibtex]

DIPN: Deep Interaction Prediction Network with Application to Clutter Removal. B. Huang, S. D. Han, A. Boularias, and J. Yu. 2021 IEEE International Conference on Robotics and Automation (ICRA 2021). [pdf] [bibtex]

Uniform Object Rearrangement: From Complete Monotone Primitives to Efficient Non-Monotone Informed Search. R. Wang, K. Gao, D. Nakhimovich*, J. Yu, and K. E. Bekris. 2021 IEEE International Conference on Robotics and Automation (ICRA 2021). [pdf] [bibtex]

Fast, High-Quality Dual-Arm Rearrangement in Synchronous, Monotone Tabletop Setups. R. Shome, K. Solovey, J. Yu, D. Halperin and K. Bekris. IEEE Transactions on Automation Science and Engineering, 2021. To appear. [pdf] [bibtex]

Team RuBot’s experiences and lessons from the ARIAC. S. W. Feng, T. Guo, K. E. Bekris and J. Yu. Robotics and Computer-Integrated Manufacturing, vol 70, pages 102-126, 2021. [bibtex]

2020

On Rearrangement of Items Stored in Stacks. M. Szegedy and J. Yu. Algorithmic Foundations of Robotics XIV, Springer Proceedings in Advanced Robotics (SPAR), page(s): 518-833, 2021. Presented at WAFR 2020. [pdf] [bibtex]

Computing High-Quality Clutter Removal Solutions for Multiple Robots. W. N. Tang, S. D. Han and J. Yu. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020). [pdf] [bibtex]

Optimally Guarding Perimeters and Regions with Mobile Range Sensors. S. W. Feng and J. Yu. 2020 Robotics: Science and Systems (RSS 2020). [pdf] [bibtex]

DDM: Fast Near-Optimal Multi-Robot Path Planning using Diversified-Path and Optimal Sub-Problem Solution Database Heuristics. S. D. Han and J. Yu. IEEE Robotics and Automation Letters, 5(2), page(s): 1350-1357, 2020. [pdf] [bibtex]

Optimal Perimeter Guarding with Heterogeneous Robot Teams: Complexity Analysis and Effective Algorithms. S. W. Feng and J. Yu. IEEE Robotics and Automation Letters, 5(2), page(s): 430-437, 2020. [pdf] [bibtex]

Toward Fast and Optimal Robotic Pick-and-Place on a Moving Conveyor. S. D. Han, S. W. Feng, and J. Yu. IEEE Robotics and Automation Letters, 5(2), page(s): 446-453, 2020. [pdf] [bibtex]

Coordinating the Motion of Labeled Discs with Optimality Guarantees under Extreme Density. R. Chinta, S. D. Han and J. Yu. Algorithmic Foundations of Robotics XIII, Springer Proceedings in Advanced Robotics (SPAR), page(s): 817-834, 2020. Presented at WAFR 2018. [pdf] [bibtex]

@InProceedings{ChiHanYu20SPAR,
author={Chinta, Rupesh and Han, Shuai D. and Yu, Jingjin},
editor={Morales, Marco and Tapia, Lydia and S{\'a}nchez-Ante, Gildardo and Hutchinson, Seth},
title={Coordinating the Motion of Labeled Discs with Optimality Guarantees under Extreme Density},
booktitle={Algorithmic Foundations of Robotics XIII},
year={2020},
publisher={Springer International Publishing},
address={Cham},
pages={817--834},
isbn={978-3-030-44051-0}
}

Fast, High-Quality Dual-Arm Rearrangement in Synchronous, Monotone Tabletop Setups. R. Shome, K. Solovey, J. Yu, D. Halperin and K. Bekris. Algorithmic Foundations of Robotics XIII, Springer Proceedings in Advanced Robotics (SPAR), page(s): 778-795, 2020. Presented at WAFR 2018. [pdf] [bibtex]

2019

Taming Combinatorial Challenges in Clutter Removal. W. N. Tang and J. Yu. 2019 International Symposium on Robotics Research (ISRR 2019). [pdf] [bibtex]

Integer Programming as a General Solution Methodology for Path-Based Optimization in Robotics: Principles, Best Practices, and Applications. S. D. Han and J. Yu. 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019). Best Student Paper Finalist and Best Application Paper Finalist. [pdf] [bibtex]

Average Case Constant Factor Time and Distance Optimal Multi-Robot Path Planning in Well-Connected Environments. J. Yu. Autonomous Robots 44, no. 3 (2020): 469-483. [pdf] [bibtex]

Efficient Algorithms for Optimal Perimeter Guarding. S. W. Feng, S. D. Han, K. Gao, and J. Yu. 2019 Robotics: Science and Systems (RSS 2019). [pdf] [bibtex]

Towards Robust Product Packing with a Minimalistic End-Effector. R. Shome, W. N. Tang, C. Song, C. Mitash, H. Kourtev, J. Yu, A. Boularias, and K. E. Bekris. 2019 IEEE International Conference on Robotics and Automation (ICRA 2019). Best Automation Paper Finalist. [pdf] [bibtex]

2018

SEAR: A Polynomial-Time Multi-Robot Path Planning Algorithm with Expected Constant-Factor Optimality Guarantee. S. D. Han, E. J. Rodriguez and J. Yu. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018). [pdf] [bibtex]

Complexity Results and Fast Methods for Optimal Tabletop Rearrangement with Overhand Grasps. S. D. Han, N. Stiffler, A. Krontiris, K. Bekris, and J. Yu. The International Journal of Robotics Research 37, no. 13-14 (2018): 1775-1795. [pdf] [bibtex]

Constant-Factor Time-Optimal Multi-Robot Routing on High-Dimensional Grids. J. Yu. 2018 Robotics: Science and Systems (RSS 2018). [pdf] [bibtex]

Efficient, High-Quality Stack Rearrangement. S. D. Han, N. Stiffler, K. Bekris, and J. Yu. IEEE Robotics and Automation Letters, 3(3), page(s): 1608-1615, 2018. Presented at ICRA 2018. [pdf] [bibtex]

An Effective Algorithmic Framework for Near Optimal Multi-Robot Path Planning. J. Yu and D. Rus. Bicchi A., Burgard W. (eds), Robotics Research, vol 1, pp 495-511, 2018. [pdf] [bibtex]

2017

Expected Constant-Factor Optimal Multi-Robot Path Planning in Well-Connected Environments. J. Yu. The 1st International Symposium on Multi-Robot and Multi-Agent Systems (MRS 2017). [pdf] [bibtex]

Freeze Tag Awakening in 2D is NP-Hard. Z. Abel, H. Akitaya, and J. Yu. 27th Annual Fall Workshop on Computational Geometry (FWCG 2017). [pdf]

High-Quality Tabletop Rearrangement with Overhand Grasps: Hardness Results and Fast Methods. S. D. Han, N. Stiffler, A. Krontiris, K. Bekris, and J. Yu. 2017 Robotics: Science and Systems (RSS 2017). Best Student Paper Finalist. [pdf] [bibtex]

A Portable, 3D-Printing Enabled Multi-Vehicle Platform for Robotics Research and Education. J. Yu, S. D. Han, W. N. Tang and D. Rus. 2017 IEEE International Conference on Robotics and Automation (ICRA 2017). [pdf] [bibtex]

2016

Optimal Multi-Robot Path Planning on Graphs: Complete Algorithms and Effective Heuristics. J. Yu and S. M. LaValle. IEEE Transactions on Robotics, 32(5), page(s): 1163 - 1177, 2016. [pdf] [bibtex]

Optimal Multi-Robot Path Planning on Graphs: Structure and Computational Complexity. J. Yu and S. M. LaValle. arXiv preprint, 2015. [pdf] [bibtex]

Correlated Orienteering Problem and its Application to Persistent Monitoring Tasks. J. Yu, M. Schwager, and D. Rus. IEEE Transactions on Robotics, 32(5), page(s): 1106 - 1118, 2016. [pdf] [bibtex]

Intractability of Optimal Multi-Robot Path Planning on Planar Graphs. J. Yu. IEEE Robotics and Automation Letters, 1(1), page(s): 33-40, 2016. Presented at ICRA 2016. [pdf] [bibtex]

- 2015

Anytime Planning of Optimal Schedules for a Mobile Sensing Robot. J. Yu, J. Aslam, S. Karaman, and D. Rus. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015). [pdf] [bibtex]

Motion Planning for Unlabeled Discs with Optimality Guarantees. K. Solovey, J. Yu, O. Zamir, and D. Halperin. 2015 Robotics: Science and Systems (RSS 2015). [pdf] [bibtex]

Persistent Monitoring of Events with Stochastic Arrivals at Multiple Stations. J. Yu, S. Karaman, and D. Rus. IEEE Transactions on Robotics, 31(3), page(s): 521-535, 2015. [pdf] [bibtex]

Pebble Motion on Graphs with Rotations: Efficient Feasibility Tests and Planning Algorithms. J. Yu and Daniela Rus. Algorithmic Foundations of Robotics XI, Springer Tracts in Advanced Robotics (STAR), vol 107, page(s): 729-746, 2015. [pdf] [bibtex]

Target Assignment in Robotic Networks: Distance Optimality Guarantees and Hierarchical Strategies. J. Yu, S.-J. Chung, and P. G. Voulgaris. IEEE Transactions on Automatic Control, 60(2), page(s): 327-341, 2015. [pdf] [bibtex]

Correlated Orienteering Problem and its Application to Informative Path Planning for Persistent Monitoring Tasks. J. Yu, M. Schwager, and D. Rus. 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014). [pdf] [bibtex]

Traveled Distance Minimization and Hierarchical Strategies for Robotic Networks. J. Yu, S.-J. Chung, and P. G. Voulgaris. 6th International Symposium on Communications, Control, and Signal Processing (ISCCSP), 2014, invited. [pdf] [bibtex]

Persistent Monitoring of Events with Stochastic Arrivals at Multiple Stations. J. Yu, S. Karaman, and D. Rus. 2014 IEEE International Conference on Robotics and Automation (ICRA 2014). [pdf] [bibtex]

Distance Optimal Target Assignment in Robotic Networks under Communication and Sensing Constraints. J. Yu, S.-J. Chung, and P. G. Voulgaris. 2014 IEEE International Conference on Robotics and Automation (ICRA 2014). [pdf] [bibtex]

Shortest Path Set Induced Vertex Ordering and its Application to Distributed Distance Optimal Formation Planning and Control on Graphs. J. Yu and S. M. LaValle. 52nd IEEE Conference on Decision and Control (CDC 2013). [pdf] [bibtex]

A Linear Time Algorithm for the Feasibility of Pebble Motion on Graphs. J. Yu. arXiv preprint, 2013. [pdf] [bibtex]

Counting Moving Bodies Using Sparse Sensor Beams. L. H. Erickson, J. Yu, Y. Huang, and S. M. LaValle. IEEE Transactions on Automation Science and Engineering, 10(4), page(s): 853-861, 2013. [pdf] [bibtex]

Combinatorial Structures and Filter Design in Information Spaces. J. Yu. Ph.D. Thesis, University of Illinois at Urbana Champaign, 2013.

Multi-agent Path Planning and Network Flow. J. Yu and S. M. LaValle. Algorithmic Foundations of Robotics X, Springer Tracts in Advanced Robotics (STAR), Springer Berlin/Heidelberg, vol 86, page(s): 157-173, 2013. [pdf] [bibtex]

Counting Moving Bodies Using Sparse Sensor Beams. L. H. Erickson, J. Yu, Y. Huang, and S. M. LaValle. Algorithmic Foundations of Robotics X, Springer Tracts in Advanced Robotics (STAR), Springer Berlin/Heidelberg, vol 86, page(s): 427-442, 2013. [pdf] [bibtex]

Planning Optimal Paths for Multiple Robots on Graphs. J. Yu and S. M. LaValle. 2013 IEEE International Conference on Robotics and Automation (ICRA 2013). [pdf] [bibtex]

Efficient Formation Path Planning on Large Graphs. M. Katsev, J. Yu and S. M. LaValle. 2013 IEEE International Conference on Robotics and Automation (ICRA 2013). [pdf] [bibtex]

Structure and Intractability of Optimal Multi-robot Path Planning on Graphs. J. Yu and S. M. LaValle. The Twenty-Seventh AAAI Conference on Artificial Intelligence (AAAI-13). [pdf] [bibtex]

Fast, Near-Optimal Computation for Multi-robot Path Planning on Graphs. J. Yu and S. M. LaValle. The Twenty-Seventh AAAI Conference on Artificial Intelligence (AAAI-13), late breaking papers. [pdf] [bibtex]

Distance Optimal Formation Control on Graphs with a Tight Convergence Time Guarantee. J. Yu and S. M. LaValle. The 51st IEEE Conference on Decision and Control (CDC 2012). [pdf] [bibtex]

Shadow Information Spaces: Combinatorial Filters for Tracking Targets. J. Yu and S. M. LaValle. IEEE Transactions on Robotics, 28(2), page(s): 440-456, Apr. 2012. [pdf] [bibtex]

Rendezvous without Coordinates. J. Yu, S. M. LaValle, and D. Liberzon. IEEE Transactions on Automatic Control, 57(2), page(s): 421-434, Feb 2012. [pdf] [bibtex]

Time Optimal Multi-agent Path Planning on Graphs. J. Yu and S. M. LaValle. The First AAAI Workshop on Multiagent Pathfinding (WoMP 2012). [pdf] [bibtex]

Story Validation and Approximate Path Inference with a Sparse Network of Heterogeneous Sensors. J. Yu and S. M. LaValle. 2011 IEEE International Conference on Robotics and Automation (ICRA 2011). [pdf] [bibtex]

Cyber Detectives: Determining When Robots or People Misbehave. J. Yu and S. M. LaValle. Algorithmic Foundations of Robotics IX, Springer Tracts in Advanced Robotics (STAR), Springer Berlin/Heidelberg, vol 68, page(s): 391-407, 2011. [pdf] [bibtex]

Probabilistic Shadow Information Spaces. J. Yu and S. M. LaValle. 2010 IEEE International Conference on Robotics and Automation (ICRA 2010). [pdf] [bibtex]

Rendezvous without Coordinates. J. Yu, S. M. LaValle, and D. Liberzon. The 47th IEEE Conference on Decision and Control (CDC 2008). [pdf] [bibtex]

Tracking Hidden Agents Through Shadow Information Spaces. J. Yu and S. M. LaValle. The 2008 IEEE International Conference on Robotics and Automation (ICRA 2008). [pdf] [bibtex]