Rearrangement-Based Manipulation via Kinodynamic Planning and Dynamic Planning Horizons
Kejia Ren,Lydia E. Kavraki,Kaiyu Hang,Kejia Ren,Lydia E. Kavraki,Kaiyu Hang
Robot manipulation in cluttered environments of-ten requires complex and sequential rearrangement of multiple objects in order to achieve the desired reconfiguration of the target objects. Due to the sophisticated physical interactions involved in such scenarios, rearrangement-based manipulation is still limited to a small range of tasks and is especially vulnerable to physical uncertainties and p...
