Carnegie Mellon University
The
Kinodynamic Randomized Rearrangement Planning via Dynamic Transitions Between Statically Stable States

Joshua Haustein, Jennifer King, Siddhartha Srinivasa, and Tamim Asfour
International Conference on Robotics and Automation, May, 2015.


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Abstract
In this work we present a fast kinodynamic RRT-planner that uses dynamic nonprehensile actions to rearrange cluttered environments. In contrast to many previous works, the presented planner is not restricted to quasi-static interactions and monotonicity. Instead the results of dynamic robot actions are predicted using a black box physics model. Given a general set of primitive actions and a physics model, the planner randomly explores the configuration space of the environment to find a sequence of actions that transform the environment into some goal configuration. In contrast to a naive kinodynamic RRT-planner we show that we can exploit the physical fact that in an environment with friction any object eventually comes to rest. This allows a search on the configuration space rather than the state space, reducing the dimension of the search space by a factor of two without restricting us to non-dynamic interactions. We compare our algorithm against a naive kinodynamic RRT-planner and show that on a variety of environments we can achieve a higher planning success rate given a restricted time budget for planning.

Keywords
kinodynamic randomized planning, rearrangement planning, nonprehensile interaction

Notes
Associated Center(s) / Consortia: Quality of Life Technology Center, National Robotics Engineering Center, and Center for the Foundations of Robotics
Associated Lab(s) / Group(s): Personal Robotics

Text Reference
Joshua Haustein, Jennifer King, Siddhartha Srinivasa, and Tamim Asfour, "Kinodynamic Randomized Rearrangement Planning via Dynamic Transitions Between Statically Stable States," International Conference on Robotics and Automation, May, 2015.

BibTeX Reference
@inproceedings{Haustein_2015_7941,
   author = "Joshua Haustein and Jennifer King and Siddhartha Srinivasa and Tamim Asfour",
   title = "Kinodynamic Randomized Rearrangement Planning via Dynamic Transitions Between Statically Stable States",
   booktitle = "International Conference on Robotics and Automation",
   month = "May",
   year = "2015",
}