论文标题
在哪里搬迁?
Where to relocate?: Object rearrangement inside cluttered and confined environments for robotic manipulation
论文作者
论文摘要
我们提出了一种算法,确定将对象重新安置在杂乱无章的空间内,同时重新排列对象以检索目标对象。尽管决定要删除的方法已提出,但计划将删除的物体放置在工作空间中的计划并没有得到太多关注。相反,删除的对象通常放在工作空间之外,这会产生额外的费力工作(例如,操纵器的运动计划和执行手机和移动基地,其他领域的感知)。其他一些方法仅在工作区内操纵对象,但没有原理,因此重排效率低下。 在这项工作中,我们考虑单调(每个对象仅移动一次)和已显示为NP- hard的非单调布置问题。一旦要重新定位的对象的顺序由任何现有算法给出,我们的方法旨在最大程度地减少选择对象的拾取操作数量,直到目标访问为止。从广泛的实验中,我们表明我们的方法减少了与基线方法相比,在达到更高的成功率的同时,与基线方法相比,我们的拾取和停电时间数量和总执行时间(分别为23.1%和28.1%)。
We present an algorithm determining where to relocate objects inside a cluttered and confined space while rearranging objects to retrieve a target object. Although methods that decide what to remove have been proposed, planning for the placement of removed objects inside a workspace has not received much attention. Rather, removed objects are often placed outside the workspace, which incurs additional laborious work (e.g., motion planning and execution of the manipulator and the mobile base, perception of other areas). Some other methods manipulate objects only inside the workspace but without a principle so the rearrangement becomes inefficient. In this work, we consider both monotone (each object is moved only once) and non-monotone arrangement problems which have shown to be NP-hard. Once the sequence of objects to be relocated is given by any existing algorithm, our method aims to minimize the number of pick-and-place actions to place the objects until the target becomes accessible. From extensive experiments, we show that our method reduces the number of pick-and-place actions and the total execution time (the reduction is up to 23.1% and 28.1% respectively) compared to baseline methods while achieving higher success rates.