Muhayyuddin Gillani

Muhayyuddin Gillani
Universitat Politècnica de Catalunya | UPC · IOC - Institute of Industrial and Control Engineering

Doctor of Robotics

About

28
Publications
6,437
Reads
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289
Citations
Additional affiliations
September 2013 - present
Universitat Politècnica de Catalunya
Position
  • PhD Student
Education
September 2009
March 2003 - September 2008

Publications

Publications (28)
Conference Paper
Full-text available
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 is necessary for planning this type of actions. However, physics-based motion planning is computationally intensive due to the...
Article
Full-text available
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 equipped with a dynamic engine acting as state propagator are usually used for that purpose. The difficulties arise in the setti...
Conference Paper
Full-text available
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, being a generic robot defined as a kinematic tree with a mobile base, i.e. the tool can plan and simulate from simple two degre...
Conference Paper
Full-text available
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 for evaluating physics-based motion planners goes beyond the computational complexity (e.g. in terms of planning time) usually...
Conference Paper
Full-text available
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 the required motions to complete a complex task. In this line, some recent approaches describe tasks with Linear Temporal Logic (L...
Article
Full-text available
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 analysis, which consists in capturing human movements while grasping several everyday objects (covering four possible grasp types),...
Chapter
Full-text available
The recent advancements in robotic systems set new challenges for robotic simulation software, particularly for planning. It requires the realistic behavior of the robots and the objects in the simulation environment by incorporating their dynamics. Furthermore, it requires the capability of reasoning about the action effects. To cope with these ch...
Article
Full-text available
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 robots can remove by pushing or pulling them. At planning level, therefore, an efficient combination of task and motion planning i...
Conference Paper
Full-text available
Manipulation planning in human environments is one of the challenging areas in robotics research. It is focused on making the robot capable of performing complex manipulation tasks, which requires manipulation planning capabilities in cluttered and unstructured environments. These capabilities need, on the one hand, a rich semantic description of t...
Article
Full-text available
Planning motions to grasp an object in cluttered and uncertain environments is a challenging task, particularly when a collision-free trajectory does not exist and objects obstructing the way are required to be carefully grasped and moved out. This paper takes a different approach and proposes to address this problem by using a randomized physics-b...
Conference Paper
Full-text available
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 interaction between objects, can enhance the planning efficiency in such environments. In this direction, this study proposes a kn...
Conference Paper
Full-text available
The recent advancements in robotic systems set new challenges for robotic simulation software, particularly for planning. It requires the realistic behavior of the robots and the objects in the simulation environment by incorporating their dynamics. Furthermore, it requires the capability of reasoning about the action effects. To cope with these ch...
Article
Full-text available
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 is necessary for planning this type of actions. However, physics-based motion planning is computationally intensive due to the...
Chapter
Full-text available
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 planners that consider the purposeful manipulation of objects. In this context, the representation of knowledge regarding how the...
Conference Paper
Full-text available
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 the required motions to complete a complex task. In this line, some recent approaches describe tasks with Linear Temporal Logic (L...
Article
Full-text available
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 the required motions to complete a complex task. In this line, some recent approaches describe tasks with Linear Temporal Logic (L...
Conference Paper
Full-text available
In order to solve mobile manipulation problems, the efficient combination of task and motion planning is usually required. Moreover, the incorporation of physics-based information has recently been taken into account in order to plan the tasks in a more realistic way. In the present paper, a task and motion planning framework is proposed based on a...
Conference Paper
Full-text available
This work presents a knowledge-based task and motion planning framework based on a version of the Fast-Forward task planner. A reasoning process on symbolic literals in terms of knowledge and geometric information about the workspace, together with the use of a physics-based motion planner, is proposed to evaluate the applicability and feasibility...
Chapter
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 present paper first represents the manipulation problem, involving knowledge about the world and the planning phase, in the form of...
Conference Paper
Full-text available
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 present paper first represents the manipulation problem , involving knowledge about the world and the planning phase, in the form of...
Conference Paper
Full-text available
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 plans may exist, the determination of their feasibility and the identification of the best one is a great challenge in robotics. T...

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Projects

Projects (3)
Project
The aim of the project is to establish the knowledge-based reasoning framework to enhance the task and motion planning for manipulation problems.
Project
To develop a motion planning simulator for industrial manipulators that will use knowledge-based reasoning to guide the robot for planning in complex environment.
Project
To develop quantum computing simulation platform.