Related papers: Stable bin packing of non-convex 3D objects with a…
The three-dimensional bin packing problem (3D-BPP) plays an important role in city logistics and manufacturing environments, due to its direct relevance to operational cost. Most existing literature have investigated the conventional…
Recent progress in robotic manipulation has dealt with the case of previously unknown objects in the context of relatively simple tasks, such as bin-picking. Existing methods for more constrained problems, however, such as deliberate…
The Online Bin Packing Problem (OBPP) is a sequential decision-making task in which each item must be placed immediately upon arrival, with no knowledge of future arrivals. Although recent deep-reinforcement-learning methods achieve…
In this paper we present a fast scalable heuristic for bin packing that partitions the given problem into identical sub-problems of constant size and solves these constant size sub-problems by considering only a constant number of bin…
We introduce a planner designed to guide robot manipulators in stably placing objects within intricate scenes. Our proposed method reverses the traditional approach to object placement: our planner selects contact points first and then…
The article proposes a heuristic approximation approach to the bin packing problem under multiple objectives. In addition to the traditional objective of minimizing the number of bins, the heterogeneousness of the elements in each bin is…
We investigate a real-life air cargo loading problem which is a variant of the three-dimensional Variable Size Bin Packing Problem with special bin forms of cuboid and non-cuboid unit load devices (ULDs). Packing is constrained by…
Many order fulfillment applications in logistics, such as packing, involve picking objects from unstructured piles before tightly arranging them in bins or shipping containers. Desirable robotic solutions in this space need to be low-cost,…
Robotic bin packing is very challenging, especially when considering practical needs such as object variety and packing compactness. This paper presents SDF-Pack, a new approach based on signed distance field (SDF) to model the geometric…
This work studies rearrangement problems involving the sorting of robots or objects in stack-like containers, which can be accessed only from one side. Two scenarios are considered: one where every robot or object needs to reach a…
In this paper, a new type of 3D bin packing problem (BPP) is proposed, in which a number of cuboid-shaped items must be put into a bin one by one orthogonally. The objective is to find a way to place these items that can minimize the…
We address the problem of motion planning for a robotic manipulator with the task to place a grasped object in a cluttered environment. In this task, we need to locate a collision-free pose for the object that a) facilitates the stable…
Modern 3D printing technologies and the upcoming mass-customization paradigm call for efficient methods to produce and distribute arbitrarily-shaped 3D objects. This paper introduces an original algorithm to split a 3D model in parts that…
We address the bin packing problem (BPP), which aims to maximize bin utilization when packing a variety of items. The offline problem, where the complete information about the item set and their sizes is known in advance, is proven to be…
Two-dimensional bin packing problems are highly relevant combinatorial optimization problems. They find a large number of applications, for example, in the context of transportation or warehousing, and for the cutting of different materials…
Optimal packing of objects in containers is a critical problem in various real-life and industrial applications. This paper investigates the two-dimensional packing of convex polygons without rotations, where only translations are allowed.…
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…
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…
In this work we propose a heuristic algorithm for the layout optimization for disks installed in a rotating circular container. This is a unequal circle packing problem with additional balance constraints. It proved to be an NP-hard…
We introduce a novel quantum computing heuristic for solving the irregular strip packing problem, a significant challenge in optimizing material usage across various industries. This problem involves arranging a set of irregular polygonal…