Related papers: Efficient, High-Quality Stack Rearrangement
This work proposes a method for effectively computing manipulation paths to rearrange similar objects in a cluttered space. The solution can be used to place similar products in a factory floor in a desirable arrangement or for retrieving a…
We present an algorithm determining where to relocate objects inside a cluttered and confined space while rearranging objects to retrieve a target object. Although methods that decide what to remove have been proposed, planning for the…
This paper studies the underlying combinatorial structure of a class of object rearrangement problems, which appear frequently in applications. The problems involve multiple, similar-geometry objects placed on a flat, horizontal surface,…
This paper considers the problem of rearrangement planning, i.e finding a sequence of manipulation actions that displace multiple objects from an initial configuration to a given goal configuration. Rearrangement is a critical skill for…
Efficient object manipulation strategies have significant impact in automation applications. In this work, the stack rearrangement in tabletop settings is studied, with a focus on augmenting the task planning domain with richer…
Solving task planning problems involving multiple objects and multiple robotic arms poses scalability challenges. Such problems involve not only coordinating multiple high-DoF arms, but also searching through possible sequences of actions…
This paper studies the underlying combinatorial structure of a class of object rearrangement problems, which appear frequently in applications. The problems involve multiple, similar-geometry objects placed on a flat, horizontal surface,…
Object rearrangement is a fundamental problem in robotics with various practical applications ranging from managing warehouses to cleaning and organizing home kitchens. While existing research has primarily focused on single-agent…
A great number of robotics applications demand the rearrangement of many mobile objects, e.g., organizing products on shelves, shuffling containers at shipping ports, reconfiguring fleets of mobile robots, and so on. To boost the throughput…
The pebble-motion on graphs is a subcategory of multi-agent pathfinding problems dealing with moving multiple pebble-like objects from a node to a node in a graph with a constraint that only one pebble can occupy one node at a given time.…
We study a class of rearrangement problems under a novel pick-n-swap prehensile manipulation model, in which a robotic manipulator, capable of carrying an item and making item swaps, is tasked to sort items stored in lattices of variable…
The unrestricted block relocation problem is an important optimization problem encountered at terminals, where containers are stored in stacks. It consists in determining the minimum number of container moves so as to empty the considered…
Efficient tabletop rearrangement planning seeks to find high-quality solutions while minimizing total cost. However, the task is challenging due to object dependencies and limited buffer space for temporary placements. The complexity…
Prehensile object rearrangement in cluttered and confined spaces has broad applications but is also challenging. For instance, rearranging products in a grocery shelf means that the robot cannot directly access all objects and has limited…
We present an algorithm that produces a plan for relocating obstacles in order to grasp a target in clutter by a robotic manipulator without collisions. We consider configurations where objects are densely populated in a constrained and…
Effectively rearranging heterogeneous objects constitutes a high-utility skill that an intelligent robot should master. Whereas significant work has been devoted to the grasp synthesis of heterogeneous objects, little attention has been…
Robotic systems are routinely used in the logistics industry to enhance operational efficiency, but the design of robot workspaces remains a complex and manual task, which limits the system's flexibility to changing demands. This paper aims…
Object rearrangement is a fundamental sub-task in accomplishing a great many physical tasks. As such, effectively executing rearrangement is an important skill for intelligent robots to master. In this study, we conduct the first…
Rearrangement puzzles are variations of rearrangement problems in which the elements of a problem are potentially logically linked together. To efficiently solve such puzzles, we develop a motion planning approach based on a new state space…
We present a unified approach for constraint displacement problems in which a robot finds a feasible path by displacing constraints or obstacles. To this end, we propose a two stage process that returns locally optimal obstacle…