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King, Jennifer E, 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: | 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 |
| Related URLs: | |
| Use Licence: | This item is available under a Creative Commons Attribution Non Commercial Share Alike Licence (CC BY-NC-SA). Details of this licence are available here |
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