Planning for Complex Non-prehensile Manipulation Among Movable Objects by Interleaving Multi-Agent Pathfinding and Physics-Based Simulation
Dhruv Mauria Saxena,Maxim Likhachev,Dhruv Mauria Saxena,Maxim Likhachev
Real-world manipulation problems in heavy clutter require robots to reason about potential contacts with objects in the environment. We focus on pick-and-place style tasks to retrieve a target object from a shelf where some ‘movable’ objects must be rearranged in order to solve the task. In particular, our motivation is to allow the robot to reason over and consider non-prehensile rearrangement ac...
