The Warthog is configured as a platform for mobile manipulation and is designed to take manipulation out of the structured environments of labs and office spaces into the real world. In the AutOTranS project, we integrated a navigation system, a grasp detection and planning system, and a custom task planner to allow Warthog to pickup, transport, and drop off novel objects like tools, fruits, and trash bags without any prior knowledge.

Watch our proposed system for autonomous open world transportation with multiple types of objects in the video below.