Autonomous planning based on spatial concepts to tidy up home environments with service robots

@article{Taniguchi2021AutonomousPB,
  title={Autonomous planning based on spatial concepts to tidy up home environments with service robots},
  author={Akira Taniguchi and Shota Isobe and Lotfi El Hafi and Yoshinobu Hagiwara and Tadahiro Taniguchi},
  journal={Advanced Robotics},
  year={2021},
  volume={35},
  pages={471 - 489}
}
ABSTRACT Tidy-up tasks by service robots in home environments are challenging in robotics applications because they involve various interactions with the environment. In particular, robots are required not only to grasp, move, and release various home objects but also to plan the order and positions for placing the objects. In this paper, we propose a novel planning method that can efficiently estimate the order and positions of the objects to be tidied up by learning the parameters of a… 
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