Planning Base Poses and Object Grasp Choices for Table-Clearing Tasks Using Dynamic Programming

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Abstract

Given a setup with external cameras and a mobile manipulator with an eye-in-hand camera, we address theproblem of computing a sequence of base poses and grasp choices that allows for clearing objects from atable while minimizing the overall execution time. The first step in our approach is to construct a worldmodel, which is generated by an anchoring process, using information from the external cameras. Next, wedeveloped a planning module which – based on the contents of the world model - is able to create a plausibleplan for reaching base positions and suitable grasp choices keeping execution time minimal. Comparing ourapproach to two baseline methods shows that the average execution cost of plans computed by our approach is40% lower than the naive baseline and 33% lower than the heuristic-based baseline. Furthermore, we integrateour approach in a demonstrator, undertaking the full complexity of the problem.
Original languageEnglish
Title of host publicationProceedings of the 16th International Conference on Agents and Artificial Intelligence
Volume3
PublisherSCITEPRESS Digital Library
Publication dateJan 2024
Pages1316-1323
DOIs
Publication statusPublished - Jan 2024
Event16th International Conference on Agents and Artificial Intelligence - Rome, Italy
Duration: 24. Feb 202426. Feb 2024
Conference number: 16
https://icaart.scitevents.org/Home.aspx

Conference

Conference16th International Conference on Agents and Artificial Intelligence
Number16
Country/TerritoryItaly
CityRome
Period24/02/202426/02/2024
Internet address

Fingerprint

Dive into the research topics of 'Planning Base Poses and Object Grasp Choices for Table-Clearing Tasks Using Dynamic Programming'. Together they form a unique fingerprint.

Cite this