Resolution Complete In-Place Object Retrieval given Known Object Models
Daniel Nakhimovich,Yinglong Miao,Kostas E. Bekris,Daniel Nakhimovich,Yinglong Miao,Kostas E. Bekris
This work proposes a robot task planning framework for retrieving a target object in a confined workspace among multiple stacked objects that obstruct the target. The robot can use prehensile picking and in-workspace placing actions. The method assumes access to 3D models for the visible objects in the scene. The key contribution is in achieving desirable properties, i.e., to provide (a) safety, b...
