Related papers: Rearrangement on Lattices with Pick-n-Swaps: Optim…
We investigate the utility of employing multiple buffers in solving a class of rearrangement problems with pick-n-swap manipulation primitives. In this problem, objects stored randomly in a lattice are to be sorted using a robot arm with…
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…
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…
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…
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 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,…
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…
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 lattice is a partially-ordered set in which every pair of elements has a unique meet (greatest lower bound) and join (least upper bound). We present new data structures for lattices that are simple, efficient, and nearly optimal in terms…
This paper addresses non-prehensile rearrangement planning problems where a robot is tasked to rearrange objects among obstacles on a planar surface. We present an efficient planning algorithm that is designed to impose few assumptions on…
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…
This paper is motivated by the vision of more efficient packet classification mechanisms that self-optimize in a demand-aware manner. At the heart of our approach lies a self-adjusting linear list data structure, where unlike in the classic…
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…
We consider algorithmic problems motivated by modular robotic reconfiguration in the sliding square model, in which we are given $n$ square-shaped modules in a (labeled or unlabeled) start configuration and need to find a schedule of…
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…
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…
Assembly of large scale structural systems in space is understood as critical to serving applications that cannot be deployed from a single launch. Recent literature proposes the use of discrete modular structures for in-space assembly and…
Reallocation scheduling is one of the most fundamental problems in various areas such as supply chain management, logistics, and transportation science. In this paper, we introduce the reallocation problem that models the scheduling in…
In this paper we are concerned with three lattice problems: the lattice packing problem, the lattice covering problem and the lattice packing-covering problem. One way to find optimal lattices for these problems is to enumerate all finitely…
Grid-based storage systems with uniformly shaped loads (e.g., containers, pallets, totes) are commonplace in logistics, industrial, and transportation domains. A key performance metric for such systems is the maximization of space…