On the Utility of Buffers in Pick-n-Swap Based Lattice Rearrangement
Kai Gao,Jingjin Yu,Kai Gao,Jingjin Yu
We investigate the utility of employing multiple buffers in solving a class of rearrangement problems with pick- n-swap manipulation primitives. In this problem, objects stored randomly in a lattice are to be sorted using a robot arm with k 1 swap spaces or buffers, capable of holding up to $k$ objects on its end-effector simultaneously. On the structural side, we show that the addition of each ne...
