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Object rearrangement is important for many applications but remains challenging, especially in confined spaces, such as shelves, where objects cannot be accessed from above and they block reachability to each other.
Efficient and high-quality prehensile rearrangement in cluttered and confined spaces
Wang, R.; Miao, Y.; and Bekris, K. E. 2022 · 1975
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Increasing tree search efficiency for constraint satisfaction problems
Haralick, R. M.; and Elliott, G. L. 1980 · 1980
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Path planning using lazy PRM
Kavraki, L.; and Bohlin, R. 2000 · 2000
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Constraint processing
Dechter, R.; Cohen, D.; et al. 2003 · 2003
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A single-query bi-directional probabilistic roadmap planner with lazy collision checking
Sánchez, G.; and Latombe, J.-C. 2003 · 2003
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Selectively damped least squares for inverse kinematics
Buss, S. R.; and Kim, J.-S. 2005 · 2005
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Manipulation planning among movable obstacles
Stilman, M.; Schamburek, J.-U.; Kuffner, J.; and Asfour, T. 2007 · 2007
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Constraint satisfaction techniques in planning and scheduling
Barták, R.; Salido, M. A.; and Rossi, F. 2010 · 2010
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Sampling-based algorithms for optimal motion planning
Karaman, S.; and Frazzoli, E. 2011 · 2011
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Geometric rearrangement of multiple movable objects on cluttered surfaces: A hybrid reasoning approach
Havur, G.; Ozbilgin, G.; Erdem, E.; and Patoglu, V. 2014 · 2014
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Planning Single-Arm Manipulations with N-Arm Robots
Cohen, B. J.; Phillips, M.; and Likhachev, M. 2015 · 2015
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Lazy collision checking in asymptotically-optimal motion planning
Hauser, K. K. 2015 · 2015
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Nonprehensile whole arm rearrangement planning on physics manifolds
King, J. E.; Haustein, J. A.; Srinivasa, S. S.; and Asfour, T. 2015 · 2015
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Efficiently solving general rearrangement tasks: A fast extension primitive for an incremental sampling-based planner
Krontiris, A.; and Bekris, K. E. 2016 · 2016
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Unobservable monte carlo planning for nonprehensile rearrangement tasks
Online planning for target object search in clutter under partial observability
Xiao, Y.; Katt, S.; ten Pas, A.; Chen, S.; and Amato, C. 2019 · 2019
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Scalable and Probabilistically Complete Planning for Robotic Spatial Extrusion
Garrett, C. R.; Huang, Y.; Lozano-Pérez, T.; and Mueller, C. T. 2020 · 2020
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Non-prehensile manipulation in clutter with human-in-the-loop
Papallas, R.; and Dogar, M. R. 2020 · 2020
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Coordination of two robotic manipulators for object retrieval in clutter
Ahn, J.; Kim, C.; and Nam, C. 2021 · 2021
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An integrated approach for determining objects to be relocated and their goal positions inside clutter for object retrieval
Ahn, J.; Lee, J.; Cheong, S. H.; Kim, C.; and Nam, C. 2021 · 2021
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King, J. E.; Ranganeni, V.; and Srinivasa, S. S. 2017 · 2017
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Probabilistic completeness of RRT for geometric and kinodynamic planning with forward propagation
Kleinbort, M.; Solovey, K.; Littlefield, Z.; Bekris, K. E.; and Halperin, D. 2018 · 2018
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Lazy receding horizon A* for efficient path planning in graphs with expensive-to-evaluate edges
Mandalika, A.; Salzman, O.; and Srinivasa, S. 2018 · 2018
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Generalized lazy search for robot motion planning: Interleaving search and edge evaluation via event-based toggles
Mandalika, A.; Choudhury, S.; Salzman, O.; and Srinivasa, S. 2019 · 2019
Cited alongside, same era.
Lim, J.; Srinivasa, S.; and Tsiotras, P. 2021 · 2021
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Uniform Object Rearrangement: From Complete Monotone Primitives to Efficient Non-Monotone Informed Search
Wang, R.; Gao, K.; Nakhimovich, D.; Yu, J.; and Bekris, K. E. 2021 · 2021
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Persistent Homology for Effective Non-Prehensile Manipulation
Vieira, E. R.; Nakhimovich, D.; Gao, K.; Wang, R.; Yu, J.; and Bekris, K. E. 2022 · 2022
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