论文标题
迈向双臂桌面对象重新安排的高效任务计划
Toward Efficient Task Planning for Dual-Arm Tabletop Object Rearrangement
论文作者
论文摘要
我们研究了协调两个机器人臂以求解非单调式桌面多对象重排任务的问题。在非主持酮重排任务中，存在复杂的对象对象依赖关系，这些依赖关系需要多次移动某些对象才能求解实例。在大型工作空间中使用两个武器工作时，必须在机器人之间交出一些物体，这进一步使计划过程变得复杂。对于具有挑战性的双臂桌面重排问题，我们开发了有效的任务计划算法，以安排可以在两个臂之间正确分布的挑选n位序列。我们表明，即使不使用复杂的运动计划者，与贪婪的方法相比，我们的方法也可以节省大量时间，并且单手计划的幼稚平行化。
We investigate the problem of coordinating two robot arms to solve non-monotone tabletop multi-object rearrangement tasks. In a non-monotone rearrangement task, complex object-object dependencies exist that require moving some objects multiple times to solve an instance. In working with two arms in a large workspace, some objects must be handed off between the robots, which further complicates the planning process. For the challenging dual-arm tabletop rearrangement problem, we develop effective task planning algorithms for scheduling the pick-n-place sequence that can be properly distributed between the two arms. We show that, even without using a sophisticated motion planner, our method achieves significant time savings in comparison to greedy approaches and naive parallelization of single-robot plans.
