Toward an automaton Constraint for Local Search

We explore the idea of using finite automata to implement new constraints for local search (this is already a successful technique in constraint-based global search). We show how it is possible to maintain incrementally the violations of a constraint and its decision variables from an automaton that describes a ground checker for that constraint. We establish the practicality of our approach idea on real-life personnel rostering problems, and show that it is competitive with the approach of [Pralong, 2007]

Automatic detection of arcs and arclets formed by gravitational lensing

We present an algorithm developed particularly to detect gravitationally lensed arcs in clusters of galaxies. This algorithm is suited for automated surveys as well as individual arc detections. New methods are used for image smoothing and source detection. The smoothing is performed by so-called anisotropic diffusion, which maintains the shape of the arcs and does not disperse them. The algorithm is much more efficient in detecting arcs than other source finding algorithms and the detection by eye.Comment: A&A in press, 12 pages, 16 figure

Fast Object Learning and Dual-arm Coordination for Cluttered Stowing, Picking, and Packing

Robotic picking from cluttered bins is a demanding task, for which Amazon Robotics holds challenges. The 2017 Amazon Robotics Challenge (ARC) required stowing items into a storage system, picking specific items, and packing them into boxes. In this paper, we describe the entry of team NimbRo Picking. Our deep object perception pipeline can be quickly and efficiently adapted to new items using a custom turntable capture system and transfer learning. It produces high-quality item segments, on which grasp poses are found. A planning component coordinates manipulation actions between two robot arms, minimizing execution time. The system has been demonstrated successfully at ARC, where our team reached second places in both the picking task and the final stow-and-pick task. We also evaluate individual components.Comment: In: Proceedings of the International Conference on Robotics and Automation (ICRA) 201