Corpus ID: 214641306

Fast and resilient manipulation planning for target retrieval in clutter

@article{Nam2020FastAR,
  title={Fast and resilient manipulation planning for target retrieval in clutter},
  author={Changjoo Nam and Jinhwi Lee and Sang Hun Cheong and Brian Cho and Changhwan Kim},
  journal={ArXiv},
  year={2020},
  volume={abs/2003.11420}
}
  • Changjoo Nam, Jinhwi Lee, +2 authors Changhwan Kim
  • Published 2020
  • Engineering, Computer Science
  • ArXiv
  • 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 objects to retrieve the target without collisions. For fast completion of object rearrangement, the robot aims to optimize the number of pick-and-place actions which often determines the efficiency of a… CONTINUE READING

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