Uniform Object Rearrangement: From Complete Monotone Primitives to Efficient Non-Monotone Informed Search
Rui Wang Kai Gao Daniel Nakhimovich Jingjin Yu Kostas E. Bekris Rui Wang Kai Gao Daniel Nakhimovich Jingjin Yu Kostas E. Bekris
Object rearrangement is a widely-applicable and challenging task for robots. Geometric constraints must be carefully examined to avoid collisions and combinatorial issues arise as the number of objects increases. This work studies the algorithmic structure of rearranging uniform objects, where robot-object collisions do not occur but object-object collisions have to be avoided. The objective is mi...