Computing High-Quality Clutter Removal Solutions for Multiple Robots
Wei N. Tang,Shuai D. Han,Jingjin Yu,Wei N. Tang,Shuai D. Han,Jingjin Yu
We investigate the task and motion planning problem of clearing clutter from a workspace with limited ingress/egress access for multiple robots. We call the problem multi-robot clutter removal (MRCR). Targeting practical applications where motion planning is non-trivial but is not a bottle-neck, we focus on finding high-quality solutions for feasible MRCR instances, which depends on the ability to...
