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Communication Dans Un Congrès Année : 2016

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

Résumé

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.
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Dates et versions

hal-04286919 , version 1 (15-11-2023)

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Jennifer E King, Marco Cognetti, Siddhartha S Srinivasa. Rearrangement planning using object-centric and robot-centric action spaces. 2016 IEEE International Conference on Robotics and Automation (ICRA), May 2016, Stockholm, Sweden. pp.3940-3947, ⟨10.1109/ICRA.2016.7487583⟩. ⟨hal-04286919⟩
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