Rearranging Similar Objects with a Manipulator using Pebble Graphs

TitleRearranging Similar Objects with a Manipulator using Pebble Graphs
Publication TypeConference Paper
Year of Publication2014
AuthorsKrontiris, A, Shome, R, Dobson, A, Kimmel, A, Bekris, KE
Conference NameIEEE-RAS International Conference on Humanoid Robots (HUMANOIDS)
Date Published11/2014
Conference LocationMadrid, Spain

This work proposes a method for effectively computing manipulation paths to rearrange similar objects in a cluttered space. Rearrangement is a challenging problem as it involves combinatorially large, continuous configuration spaces due to the presence of multiple bodies and kinematically complex manipulators. This work leverages ideas from algorithmic theory, multi-robot motion planning and manipulation planning to propose appropriate graphical representations for this challenge. These representations allow to quickly reason whether manipulation paths allow the transition between entire sets of object arrangements without having to explicitly store these arrangements. The proposed method also allows to take advantage of precomputation given a manipulation roadmap for transferring a single object in the same cluttered space. The resulting approach is probabilistically complete for a wide set of problem instances. It is evaluated in simulation for a realistic model of a Baxter robot and executed on the real system, showing that the approach solves complex instances and is promising in terms of scalability and success ratio.