Carnegie Mellon University
The
Rearrangement planning using object-centric and robot-centric action spaces

Jennifer King, Marco Cognetti, and Siddhartha Srinivasa
IEEE International Conference on Robotics and Automation, May, 2016.


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Abstract
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.

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): Planning and Autonomy Lab and Personal Robotics
Associated Project(s): Planning for Manipulation

Text Reference
Jennifer King, Marco Cognetti, and Siddhartha Srinivasa, "Rearrangement planning using object-centric and robot-centric action spaces," IEEE International Conference on Robotics and Automation, May, 2016.

BibTeX Reference
@inproceedings{King_2016_8085,
   author = "Jennifer King and Marco Cognetti and Siddhartha Srinivasa",
   title = "Rearrangement planning using object-centric and robot-centric action spaces",
   booktitle = "IEEE International Conference on Robotics and Automation",
   month = "May",
   year = "2016",
}