Least Action Sequence Determination in the Planning of Non-prehensile Manipulation with Multiple Mobile Robots

To complete a non-prehensile manipulation task, using the lowest number of manipulation sequences with a well-determined number of robots is desirable to improve efficiency of the manipulation and to bring stability to it. Since many possible states exist in the manipulation, various manipulation sequences exist to finish the task. Furthermore, the number of robots should be determined according to the environment. In this work, a graph-based planning method was used to determine the lowest possible number of sequences in the non-prehensile manipulation of mobile robots with a determined number of robots for gravity closure. Based on all possible object-environment contacts, the required number of robots for gravity closure was determined to generate possible manipulation states in the contact configuration space. A state transition graph was created by representing the obtained states as nodes and then determining the least action sequences by searching for the shortest path in the graph.

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