Author

V. N. Hartmann

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Preprint Sep 2026

WRAP: Fixtureless Wrench-aware Multi-Robot Assembly Planning

Assembly using robots often requires specially designed fixtures, or relies on top-down only assembly strategies. Using multiple robots, we can avoid using fixtures and make robotic assembly more flexible. Planning assembly sequences for multiple robots is challenging due to the high number of possible task assignments...

V. N. Hartmann, Hua-Peng Su, Yi-Jiang Huang et al. · 0 citations

Preprint Oct 2026

Multi-Robot Multi-Goal Motion Planning with Stochastic Skills

As robots are increasingly deployed in groups and share workspaces to execute real-world tasks, planning their concurrent motions around complex manipulation skills becomes essential. These skills involve continuous physical execution and may exhibit stochastic behavior, resulting in variable execution times and uncert...

William Schnyder, V. N. Hartmann, Stelian Coros · 0 citations