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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…
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,…
In this paper, we examine the problem of rearranging many objects on a tabletop in a cluttered setting using overhand grasps. Efficient solutions for the problem, which capture a common task that we solve on a daily basis, are essential in…
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…
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…
We investigate the problem of coordinating two robot arms to solve non-monotone tabletop multi-object rearrangement tasks. In a non-monotone rearrangement task, complex object-object dependencies exist that require moving some objects…
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…
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.…
Rearranging objects on a planar surface arises in a variety of robotic applications, such as product packaging. Using two arms can improve efficiency but introduces new computational challenges. This paper studies the structure of dual-arm…
This thesis provides an in-depth structural analysis and efficient algorithmic solutions for tabletop object rearrangement with overhand grasps (TORO), a foundational task in advancing intelligent robotic manipulation. Rearranging multiple…
This paper presents a task and motion planning (TAMP) framework for a robotic manipulator in order to retrieve a target object from clutter. We consider a configuration of objects in a confined space with a high density so no collision-free…
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…
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…
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 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…
We present a multi-robot task and motion planning method that, when applied to the rearrangement of objects by manipulators, results in solution times up to three orders of magnitude faster than existing methods and successfully plans for…
Finding an high-quality solution for the tabletop object rearrangement planning is a challenging problem. Compared to determining a goal arrangement, rearrangement planning is challenging due to the dependencies between objects and the…
Rearranging objects on a tabletop surface by means of nonprehensile manipulation is a task which requires skillful interaction with the physical world. Usually, this is achieved by precisely modeling physical properties of the objects,…
Rearranging objects in cluttered tabletop environments remains a long-standing challenge in robotics. Classical planners often generate inefficient, high-cost plans by shuffling objects individually and using fixed buffers--temporary spaces…