Kinodynamic Rapidly-exploring Random Forest for Rearrangement-Based Nonprehensile Manipulation
Kejia Ren,Podshara Chanrungmaneekul,Lydia E. Kavraki,Kaiyu Hang,Kejia Ren,Podshara Chanrungmaneekul,Lydia E. Kavraki,Kaiyu Hang
Rearrangement-based nonprehensile manipulation still remains as a challenging problem due to the high-dimensional problem space and the complex physical uncertainties it entails. We formulate this class of problems as a coupled problem of local rearrangement and global action optimization by incorporating free-space transit motions between constrained rearranging actions. We propose a forest-based...
