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            <title xml:lang="en">Rearrangement planning using object-centric and robot-centric action spaces</title>
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            <idno type="halRefHtml">&lt;i&gt;2016 IEEE International Conference on Robotics and Automation (ICRA)&lt;/i&gt;, May 2016, Stockholm, Sweden. pp.3940-3947, &lt;a target="_blank" href="https://dx.doi.org/10.1109/ICRA.2016.7487583"&gt;&amp;#x27E8;10.1109/ICRA.2016.7487583&amp;#x27E9;&lt;/a&gt;</idno>
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              <p>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.</p>
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