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    Rearrangement planning using object-centric and robot-centric action spaces


    King, Jennifer E and Cognetti, Marco and Srinivasa, Siddhartha (2016) Rearrangement planning using object-centric and robot-centric action spaces. 2016 IEEE International Conference on Robotics and Automation (ICRA). pp. 3940-3947.

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    Abstract

    This paper addresses the problem of rearrangement planning, i.e. to find a feasible trajectory for a robot that must interact with multiple objects in order to achieve a goal. We propose a planner to solve the rearrangement planning problem by considering two different types of actions: robot-centric and object-centric. Object-centric actions guide the planner to perform specific actions on specific objects. Robot-centric actions move the robot without object relevant intent, easily allowing simultaneous object contact and whole arm interaction. We formulate a hybrid planner that uses both action types. We evaluate the planner on tasks for a mobile robot and a household manipulator.

    Item Type: Article
    Keywords: Rearrangement; planning; object-centric; robot-centric; action; spaces;
    Academic Unit: Faculty of Science and Engineering > Electronic Engineering
    Faculty of Science and Engineering > Research Institutes > Hamilton Institute
    Item ID: 15338
    Identification Number: https://doi.org/10.1109/ICRA.2016.7487583
    Depositing User: Marco Cognetti
    Date Deposited: 25 Jan 2022 14:56
    Journal or Publication Title: 2016 IEEE International Conference on Robotics and Automation (ICRA)
    Publisher: IEEE
    Refereed: Yes
    URI:

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