Tree Search-based Task and Motion Planning with Prehensile and Non-prehensile Manipulation for Obstacle Rearrangement in Clutter
Jinhwi Lee Changjoo Nam Jonghyeon Park Changhwan Kim Jinhwi Lee Changjoo Nam Jonghyeon Park Changhwan Kim
We propose a tree search-based planning algorithm for a robot manipulator to rearrange objects and grasp a target in a dense space. We consider environments where tasks cannot be completed with prehensile planning only. As assuming that a manipulator is only allowed to grasp from the top, we aim to minimize the number of rearrangement actions and the total execution time, which affects the efficie...