Coordination of two robotic manipulators for object retrieval in clutter

Understand

We consider the problem of retrieving a target object from a confined space by two robotic manipulators where overhand grasps are not allowed.

• If other movable obstacles occlude the target, more than one object should be relocated to clear the path to reach the target object.
• With two robots, the relocation could be done efficiently by simultaneously performing relocation tasks.
• However, the precedence constraint between the tasks (e.g, some objects at the front should be removed to manipulate the objects in the back) makes the simultaneous task execution difficult.