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TZOFFSETTO:-0400 TZNAME:America/New_York EDT END:DAYLIGHT BEGIN:DAYLIGHT DTSTART:20240310T030000 RDATE:20241103T010000 TZOFFSETFROM:-0500 TZOFFSETTO:-0400 TZNAME:America/New_York EDT END:DAYLIGHT BEGIN:DAYLIGHT DTSTART:20250309T030000 RDATE:20251102T010000 TZOFFSETFROM:-0500 TZOFFSETTO:-0400 TZNAME:America/New_York EDT END:DAYLIGHT BEGIN:DAYLIGHT DTSTART:20260308T030000 RDATE:20261101T010000 TZOFFSETFROM:-0500 TZOFFSETTO:-0400 TZNAME:America/New_York EDT END:DAYLIGHT BEGIN:DAYLIGHT DTSTART:20270314T030000 RDATE:20271107T010000 TZOFFSETFROM:-0500 TZOFFSETTO:-0400 TZNAME:America/New_York EDT END:DAYLIGHT BEGIN:DAYLIGHT DTSTART:20280312T030000 RDATE:20281105T010000 TZOFFSETFROM:-0500 TZOFFSETTO:-0400 TZNAME:America/New_York EDT END:DAYLIGHT BEGIN:DAYLIGHT DTSTART:20290311T030000 RDATE:20291104T010000 TZOFFSETFROM:-0500 TZOFFSETTO:-0400 TZNAME:America/New_York EDT END:DAYLIGHT BEGIN:DAYLIGHT DTSTART:20300310T030000 RDATE:20301103T010000 TZOFFSETFROM:-0500 TZOFFSETTO:-0400 TZNAME:America/New_York EDT END:DAYLIGHT BEGIN:DAYLIGHT DTSTART:20310309T030000 RDATE:20311102T010000 TZOFFSETFROM:-0500 TZOFFSETTO:-0400 TZNAME:America/New_York EDT END:DAYLIGHT BEGIN:DAYLIGHT DTSTART:20320314T030000 RDATE:20321107T010000 TZOFFSETFROM:-0500 TZOFFSETTO:-0400 TZNAME:America/New_York EDT END:DAYLIGHT BEGIN:DAYLIGHT DTSTART:20330313T030000 RDATE:20331106T010000 TZOFFSETFROM:-0500 TZOFFSETTO:-0400 TZNAME:America/New_York EDT END:DAYLIGHT BEGIN:DAYLIGHT DTSTART:20340312T030000 RDATE:20341105T010000 TZOFFSETFROM:-0500 TZOFFSETTO:-0400 TZNAME:America/New_York EDT END:DAYLIGHT END:VTIMEZONE BEGIN:VEVENT UID:0e8625b2f13bfddf77208dd79dcae1ec CATEGORIES:Pre-Defense CREATED:20190823T084029 SUMMARY:Efficient and Probabilistically Complete Hierarchical Schemes for Object Rearrangement using Powerful Local Connection Primitives LOCATION:CBIM 22 DESCRIPTION;ENCODING=QUOTED-PRINTABLE:
Rearranging multiple objects is a critical skill for robots so they can
effectively deal with clutter in human spaces. This is a challenging proble
m as it involves searching combinatorially large, continuous C-spaces with
multiple movable bodies and complex kinematic constraints. This work revisi
ts an existing search-based approach that can compute solutions for monoton
e problem instances using backtracking search. Monotone problem instances r
equire each object to be moved at most once.
The first contribu
tion is the extension of this technique to a method that addresses many non
-monotone problem instances by utilizing an efficient but approximate solut
ion to the Minimum Constraint Removal (MCR) path planning problem. The seco
nd contribution is the use of such solvers as local primitives in the conte
xt of a higher-level task planner that searches the space of object placeme
nts and achieves probabilistic completeness. This work emphasizes the benef
it of using more powerful connection primitives in the context of task plan
ning for object rearrangement than an individual pick-and-place. The third
contribution is a significantly more efficient, but heuristic incremental v
ersion of the hierarchical framework. The methods make use of a dependency
graph between objects given MCR paths to transfer each object to its target
, which effectively guides the expansion of a bidirectional RRT in the spac
e of object arrangements.
Experiments in simulation using a mod
el of a robot arm show the capability of solving difficult instances of rea
rrangement problems and this work evaluates the methods in terms of success
ratio, running time, scalability and path quality. Overall the graph-based
high-level task planner has stronger guarantees, while the incremental sea
rch algorithm has higher success ratio, faster solution times, robust scala
bility and improved path quality relative to all the alternatives considere
d. The framework has also been demonstrated on a real robotic manipulator.<
/p>
DTSTAMP:20240328T125717Z
DTSTART;TZID=America/New_York:20170123T103000
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