3 accepted papers
We consider the problem of rearranging objects in a cluttered and confined space using a robotic manipulator. The goal is to retrieve a target object from the clutter where the target is occluded by other objects. In situations where overhand grasps are not allowed, the robot needs to remove some ob…
This paper presents a task and motion planning (TAMP) framework for a robotic manipulator in order to retrieve a target object from clutter. We consider a configuration of objects in a confined space with a high density so no collision-free path to the target exists. The robot must relocate some obj…
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…