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

Rearrangement planning using object-centric and robot-centric action spaces

Jennifer King, Marco Cognetti, and Siddhartha Srinivasa
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 3940 - 3947, May, 2016

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.

BibTeX

@conference{King-2016-5505,
author = {Jennifer King and Marco Cognetti and Siddhartha Srinivasa},
title = {Rearrangement planning using object-centric and robot-centric action spaces},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {2016},
month = {May},
pages = {3940 - 3947},
}