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In this paper, we examine the problem of rearranging many objects on a tabletop in a cluttered setting using overhand grasps.
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S. D. Han, N. M. Stiffler, A. Krontiris, K. E. Bekris, and J. Yu, “Complexity results and fast methods for optimal tabletop rearrangement with overhand grasps,” The International Journal of Robotics Research , vol. 37, no. 13-14, pp. 1775–1795, 2018
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J. Yu, “Rearrangement on lattices with pic-n-swaps: Optimality structures and efficient algorithms,” in Robotics: Sciences and Systems , 2021
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