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Kinodynamic Randomized Rearrangement Planning via Dynamic Transitions Between Statically Stable States
High Performance Humanoid Technologies, Karlsruhe Institute of Technology.ORCID iD: 0000-0002-5821-7435
(Carnegie Mellon University)
(Carnegie Mellon University)
(High Performance Humanoid Technologies, Karlsruhe Institute of Technology)
2015 (English)In: International Conference in Robotics and Automation (ICRA) 2015, 2015, p. 3075-3082Conference paper, Published paper (Refereed)
Abstract [en]

In this work we present a fast kinodynamic RRT-planner that uses dynamic nonprehensile actions to rearrange cluttered environments. In contrast to many previous works, the presented planner is not restricted to quasi-static interactions and monotonicity. Instead the results of dynamic robot actions are predicted using a black box physics model. Given a general set of primitive actions and a physics model, the planner randomly explores the configuration space of the environment to find a sequence of actions that transform the environment into some goal configuration. In contrast to a naive kinodynamic RRT-planner we show that we can exploit the physical fact that in an environment with friction any object eventually comes to rest. This allows a search on the configuration space rather than the state space, reducing the dimension of the search space by a factor of two without restricting us to non-dynamic interactions. We compare our algorithm against a naive kinodynamic RRT-planner and show that on a variety of environments we can achieve a higher planning success rate given a restricted time budget for planning.

Place, publisher, year, edition, pages
2015. p. 3075-3082
Keywords [en]
Rearrangement Planning, Pushing
National Category
Computer Vision and Robotics (Autonomous Systems)
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:kth:diva-264027DOI: 10.1109/ICRA.2015.7139621OAI: oai:DiVA.org:kth-264027DiVA, id: diva2:1371728
Conference
International Conference in Robotics and Automation (ICRA), Seattle, May 26-30 2015
Note

QC 20191210

Available from: 2019-11-20 Created: 2019-11-20 Last updated: 2019-12-10Bibliographically approved

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Haustein, Joshua Alexander
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CiteExportLink to record
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