Fast and High-Quality Dual-Arm Rearrangement in Synchronous, Monotone Tabletop Setups
|Title||Fast and High-Quality Dual-Arm Rearrangement in Synchronous, Monotone Tabletop Setups|
|Publication Type||Conference Paper|
|Year of Publication||2018|
|Authors||Shome, R, Solovey, K, Yu, J, Bekris, KE, Halperin, D|
|Conference Name||Workshop on the Algorithmic Foundations of Robotics (WAFR)|
|Conference Location||Mérida, México|
Rearranging objects on a planar surface arises in a variety of applications, such as packaging. Using two arms can improve efficiency but introduces new combinatorial challenges. This paper studies the structure of dual-arm rearrangement for synchronous, monotone tabletop setups and develops an optimal MILP model. It then describes an efficient and scalable algorithm, which first minimizes the cost of object transfers and then of transitions between objects. This is motivated by the fact that asymptotically object transfers dominate the cost of solutions. Moreover, a lazy strategy minimizes the number of motion planning calls and results in significant speedups. Theoretical arguments support the benefits of using two arms and indicate that synchronous operation introduces only a small cost increase. Experiments support these points and show that the scalable method can quickly compute solutions close to optimal for the considered setup.