Complexity Results and Fast Methods for Optimal Tabletop Rearrangement with Overhand Grasps
Title | Complexity Results and Fast Methods for Optimal Tabletop Rearrangement with Overhand Grasps |
Publication Type | Journal Article |
Year of Publication | 2018 |
Authors | Shuai, H, Stiffler, N, Krontiris, A, Bekris, KE, Yu, J |
Journal | International Journal of Robotics Research (IJRR) |
Date Published | accepted |
Abstract | 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, where a robot can approach them from above and perform pick-and-place operations to rearrange them. The paper considers both the case where the start and goal object poses overlap, and where they do not. For overlapping poses, the primary objective is to minimize the number of pick-and-place actions and then to minimize the distance traveled by the end-effector. For the non-overlapping case, the objective is solely to minimize the |