Fast and resilient manipulation planning for target retrieval in clutter

This paper presents a task and motion planning (TAMP) framework for a robotic manipulator in order to retrieve a target object from clutter. We consider a configuration of objects in a confined space with a high density so no collision-free path to the target exists. The robot must relocate some objects to retrieve the target without collisions. For fast completion of object rearrangement, the robot aims to optimize the number of pick-and-place actions which often determines the efficiency of a TAMP framework.We propose a task planner incorporating motion planning to generate executable plans which aims to minimize the number of pick-and-place actions. In addition to fully known and static environments, our method can deal with uncertain and dynamic situations incurred by occluded views. Our method is shown to reduce the number of pick-and-place actions compared to baseline methods (e.g., at least 28.0% of reduction in a known static environment with 20 objects).

[1]  Changjoo Nam,et al.  Planning for target retrieval using a robotic manipulator in cluttered and occluded environments , 2019, ArXiv.

[2]  Gordon T. Wilfong.  Motion planning in the presence of movable obstacles , 1988, SCG '88.

[3]  Kostas E. Bekris,et al.  Dealing with Difficult Instances of Object Rearrangement , 2015, Robotics: Science and Systems.

[4]  Changjoo Nam,et al.  Where to relocate?: Object rearrangement inside cluttered and confined environments for robotic manipulation , 2020, 2020 IEEE International Conference on Robotics and Automation (ICRA).

[5]  Marc Toussaint,et al.  Logic-Geometric Programming: An Optimization-Based Approach to Combined Task and Motion Planning , 2015, IJCAI.

[6]  Eric Huang,et al.  Large-Scale Multi-Object Rearrangement , 2019, 2019 International Conference on Robotics and Automation (ICRA).

[7]  Kostas E. Bekris,et al.  Complexity Results and Fast Methods for Optimal Tabletop Rearrangement with Overhand Grasps , 2017, Int. J. Robotics Res..

[8]  Danica Kragic,et al.  Rearrangement with Nonprehensile Manipulation Using Deep Reinforcement Learning , 2018, 2018 IEEE International Conference on Robotics and Automation (ICRA).

[9]  Emilio Frazzoli,et al.  Sampling-based algorithms for optimal motion planning , 2011, Int. J. Robotics Res..

[10]  Siddhartha S. Srinivasa,et al.  Object search by manipulation , 2013, 2013 IEEE International Conference on Robotics and Automation.

[11]  James J. Kuffner,et al.  Planning Among Movable Obstacles with Artificial Constraints , 2008, WAFR.

[12]  Siddhartha S. Srinivasa,et al.  A Planning Framework for Non-Prehensile Manipulation under Clutter and Uncertainty , 2012, Autonomous Robots.

[13]  Lydia E. Kavraki,et al.  The Open Motion Planning Library , 2012, IEEE Robotics & Automation Magazine.

[14]  Siddhartha S. Srinivasa,et al.  Kinodynamic randomized rearrangement planning via dynamic transitions between statically stable states , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

[15]  Steven M. LaValle,et al.  RRT-connect: An efficient approach to single-query path planning , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[16]  Fabien Lagriffoul,et al.  Combining task and motion planning: A culprit detection problem , 2016, Int. J. Robotics Res..

[17]  Surya P. N. Singh,et al.  V-REP: A versatile and scalable robot simulation framework , 2013, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[18]  Pieter Abbeel,et al.  Combined task and motion planning through an extensible planner-independent interface layer , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[19]  Tamim Asfour,et al.  Manipulation Planning Among Movable Obstacles , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[20]  Nicholas Roy,et al.  Asymptotically Optimal Planning under Piecewise-Analytic Constraints , 2016, WAFR.

[21]  Ronald L. Rivest,et al.  Introduction to Algorithms , 1990 .

[22]  ChangHwan Kim,et al.  Efficient Obstacle Rearrangement for Object Manipulation Tasks in Cluttered Environments , 2019, 2019 International Conference on Robotics and Automation (ICRA).

[23]  Mark Moll,et al.  Randomized Physics-Based Motion Planning for Grasping in Cluttered and Uncertain Environments , 2017, IEEE Robotics and Automation Letters.

[24]  Leslie Pack Kaelbling,et al.  FFRob: Leveraging symbolic planning for efficient task and motion planning , 2016, Int. J. Robotics Res..

[25]  Li-Chen Fu,et al.  Planning on searching occluded target object with a mobile robot manipulator , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

[26]  Swarat Chaudhuri,et al.  The Task-Motion Kit: An Open Source, General-Purpose Task and Motion-Planning Framework , 2018, IEEE Robotics & Automation Magazine.