PuSHR: A Multirobot System for Nonprehensile Rearrangement
Sidharth Talia,Arnav Thareja,Christoforos Mavrogiannis,Matt Schmittle,Siddhartha S. Srinivasa,Sidharth Talia,Arnav Thareja,Christoforos Mavrogiannis,Matt Schmittle,Siddhartha S. Srinivasa
We focus on the problem of rearranging a set of objects with a team of car-like robot pushers built using off-the-shelf components. Maintaining control of pushed objects while avoiding collisions in a tight space demands highly coordinated motion that is challenging to execute on constrained hardware. Centralized replanning approaches become intractable even for small-sized problems whereas decent...
