Related papers: Efficient, High-Quality Stack Rearrangement

We introduce the Block Rearrangement Problem (BRaP), a challenging component of large warehouse management which involves rearranging storage blocks within dense grids to achieve a goal state. We formally define the BRaP as a graph search…

Nowadays, a number of grasping algorithms have been proposed, that can predict a candidate of grasp poses, even for unseen objects. This enables a robotic manipulator to pick-and-place such objects. However, some of the predicted grasp…

We implement and evaluate different methods for the reconfiguration of a connected arrangement of tiles into a desired target shape, using a single active robot that can move along the tile structure. This robot can pick up, carry, or drop…

Pick-and-place is one of the fundamental tasks in robotics research. However, the attention has been mostly focused on the ``pick'' task, leaving the ``place'' task relatively unexplored. In this paper, we address the problem of placing…

This paper explores general multi-robot task and motion planning, where multiple robots in close proximity manipulate objects while satisfying constraints and a given goal. In particular, we formulate the plan refinement problem--which,…

Shelves are commonly used to store objects in homes, stores, and warehouses. We formulate the problem of Optimal Shelf Arrangement (OSA), where the goal is to optimize the arrangement of objects on a shelf for access time given an access…

For rearranging objects on tabletops with overhand grasps, temporarily relocating objects to some buffer space may be necessary. This raises the natural question of how many simultaneous storage spaces, or "running buffers", are required so…

Modern parcel logistic networks are designed to ship demand between given origin, destination pairs of nodes in an underlying directed network. Efficiency dictates that volume needs to be consolidated at intermediate nodes in typical…

This paper presents a solution for the problem of optimal planning for a robot in a collaborative human-robot team, where the human supervisor is intermittently available to assist the robot in completing tasks more quickly. Specifically,…

We study the computational complexity of optimally solving multi-robot path planning problems on planar graphs. For four common time- and distance-based objectives, we show that the associated path optimization problems for multiple robots…

Cutting and packing problems are present in many, at first glance unconnected, areas, therefore it's beneficial to have a good understanding of their underlying structure, to select proper techniques for finding solutions. Cutting and…

This paper develops intelligent algorithms for robots to reorient objects. Given the initial and goal poses of an object, the proposed algorithms plan a sequence of robot poses and grasp configurations that reorient the object from its…

Express companies are deploying more robotic sorting systems, where mobile robots are used to sort incoming parcels by destination. In this study, we propose an integrated assignment and path-finding method for robots in such sorting…

We focus on push-based multi-object rearrangement planning using a nonholonomically constrained mobile robot. The simultaneous geometric, kinematic, and physics constraints make this problem especially challenging. Prior work on…

Planning motions for two robot arms to move an object collaboratively is a difficult problem, mainly because of the closed-chain constraint, which arises whenever two robot hands simultaneously grasp a single rigid object. In this paper, we…

If we give a robot the task of moving an object from its current position to another location in an unknown environment, the robot must explore the map, identify all types of obstacles, and then determine the best route to complete the…

This paper considers deployment problems where a mobile robotic network must optimize its configuration in a distributed way in order to minimize a steady-state cost function that depends on the spatial distribution of certain probabilistic…

Motion planning for multi-jointed robots is challenging. Due to the inherent complexity of the problem, most existing works decompose motion planning as easier subproblems. However, because of the inconsistent performance metrics, only…

In response to the growing challenges of manual labor and efficiency in warehouse operations, Amazon has embarked on a significant transformation by incorporating robotics to assist with various tasks. While a substantial number of robots…

Speed-robust scheduling is the following two-stage problem of scheduling $n$ jobs on $m$ uniformly related machines. In the first stage, the algorithm receives the value of $m$ and the processing times of $n$ jobs; it has to partition the…