Fast and resilient manipulation planning for target retrieval in clutter
Changjoo Nam,Jinhwi Lee,Sang Hun Cheong,Brian Y. Cho,ChangHwan Kim,Changjoo Nam,Jinhwi Lee,Sang Hun Cheong,Brian Y. Cho,ChangHwan Kim
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 rob...
