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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:2a638529ee407aefdfd48263d63f41c5 CATEGORIES:Qualifying Exam CREATED:20190919T141211 SUMMARY:Taming Combinatorial Challenges in Clutter Removal LOCATION:1 Spring St.\, New Brunswick\, NJ 08901/Room 403 DESCRIPTION;ENCODING=QUOTED-PRINTABLE:
Abstract:
We examine an important combinatorial c hallenge in clearing clutter using a mobile robot equipped with a manipulat or, seeking to compute an optimal object removal sequence for minimizing th e task completion time, assuming that each object is grasped once and then subsequently removed. On the structural side, we establish that such an opt imal sequence can be NP-hard to compute, even when no two objects to be rem oved have any overlap. Then, we construct asymptotically optimal and heuris tic algorithms for clutter removal. Employing dynamic programming, our opti mal algorithm scales to 40 objects. On the other hand, for random clutter, fast greedy algorithms tend to produce solutions comparable to these genera ted by the optimal algorithm.
DTSTAMP:20240328T104902Z DTSTART;TZID=America/New_York:20190827T100000 SEQUENCE:0 TRANSP:OPAQUE END:VEVENT END:VCALENDAR