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We present an algorithm that produces a plan for relocating obstacles in order to grasp a target in clutter by a robotic manipulator without collisions.
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S. Srivastava, E. Fang, L. Riano, R. Chitnis, S. Russell, and P. Abbeel, “Combined task and motion planning through an extensible planner-independent interface layer,” in Proceedings of IEEE International Conference on Robotics and Automation (ICRA) , 2014, pp. 639–646
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J. A. Haustein, J. King, S. S. Srinivasa, and T. Asfour, “Kinodynamic randomized rearrangement planning via dynamic transitions between statically stable states,” in Proceedings of IEEE International Conference on Robotics and Automation (ICRA) , 2015, pp. 3075–3082
2015
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M. Moll, L. Kavraki, J. Rosell et al. , “Randomized physics-based motion planning for grasping in cluttered and uncertain environments,” IEEE Robotics and Automation Letters , vol. 3, no. 2, pp. 712–719, 2018
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2018
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