Toward Efficient Task Planning for Dual-Arm Tabletop Object Rearrangement
Kai Gao,Jingjin Yu,Kai Gao,Jingjin Yu
We investigate the problem of coordinating two robot arms to solve non-monotone tabletop multi-object re- arrangement tasks. In a non-monotone rearrangement task, complex object-object dependencies exist that require moving some objects multiple times to solve an instance. In working with two arms in a large workspace, some objects must be handed off between the robots, which further complicates t...