Uniform Object Rearrangement: From Complete Monotone Primitives to Efficient Non-Monotone Informed Search

Understand

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 minimizing the number of object transfers under the assumption that the robot can manipulate one object at a time.