Technical Report CIS9516

TR#:CIS9516
Class:CIS
Title: TO PUSH OR NOT TO PUSH - PART I: ON THE REARRANGEMENT OF MOVABLE OBJECTS BY A MOBILE ROBOT.
Authors: O. Ben-Shahar and E. Rivlin
PDFCIS9516.pdf
Abstract: We formulate and address the problem of planning a pushing manipulation by a mobile robot which tries to rearrange several moveable objects in its work space. We present an algorithm which, when given a set of foal configurations, plans a pushing path to the ``cheapest'' goal or announces that no such path exists. The pushing path is found using a two phase procedure: context sensitive back propagation of a cost function, and a pushing path restoration phase. The latter is based on a gradient descent procedure which considers, in each step, only admissible neighboring configurations. The admissibility mechanism gives a primary tool for expressing the special characteristics of the pushing manipulation. It also allows a full integration of any geometrical constraints imposed by the pushing robot, the pushed objects and the environment. We prove optimality and completeness of the algorithm and give some simulation results in different scenarios.
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