Past Events

Qualifying Exam

Toward Structured Plan Exploration for Multi-Object Rearrangement

 

Download as iCal file

Friday, December 10, 2021, 01:00pm
 

Speaker: Kao Gao

Location : Via Zoom

Committee: 

Jingjin Yu

Kostas Bekris

Abdeslam Boularias

Aaron Bernstein

Event Type: Qualifying Exam

Abstract: With practical applications in both industrial automation and home automation, object rearrangement is a topic of interest in the broader area of task and motion planning. In this problem, a robot arm moves objects one at a time from current positions to specified goal positions. To avoid collisions, some objects need to be moved before others or even be temporarily displaced to open space. Therefore, to compute feasible rearrangement plans, one needs to not only determine the ordering of object manipulations but also allocate clearings for temporary object displacements. In this talk, we investigate this problem with different objectives. We first present structural properties of the problem, which include upper and lower bounds of objectives. Second, we introduce fast algorithms for object rearrangement in different setups. Extensive experiments show that our algorithms outperform state-of-the-art methods in both computation time and solution quality under various practical scenarios.

Organization: 

Rutgers University School of Arts and Sciences

Contact  Kai Gao

Join Zoom Meeting
https://rutgers.zoom.us/j/95250508084?pwd=YWszcXJNT0tJeThHbG9uZDV6NG5adz09

Join by SIP
This email address is being protected from spambots. You need JavaScript enabled to view it.

Meeting ID: 952 5050 8084
Password: 574073
One tap mobile
+16465588656,,95250508084# US (New York)
+13017158592,,95250508084# US (Washington DC)

Join By Phone
+1 646 558 8656 US (New York)
+1 301 715 8592 US (Washington DC)
+1 312 626 6799 US (Chicago)
+1 669 900 9128 US (San Jose)
+1 253 215 8782 US (Tacoma)
+1 346 248 7799 US (Houston)
Meeting ID: 952 5050 8084
Find your local number: https://rutgers.zoom.us/u/acDxrtQioW

Join by Skype for Business
https://rutgers.zoom.us/skype/95250508084