| TR#: | CIS9526 |
| Class: | CIS |
| Title: | TO PUSH OR NOT TO PUSH -
PART II - PRACTICAL PUSHING PLANNING FOR REARRANGEMENT TASKS. |
| Authors: | O. Ben-Shahar and E. Rivlin |
| CIS9526.pdf | |
| Abstract: | Rearrangement of objects by pushing is a basic manipulation task. In [5] we presented a resolution-complete algorithm that plans optimal pushing manipulations for rearrangement tasks but operates in high time and space complexity. In this paper we address the issue of {\bf practical} planning for the same kind of problems. Rather than using a classical heuristic method, we propose an alternative approach. We present a hierarchical classification of the pushing problems' domain into several classes, each characterized by properties of the plans that can solve them. Such a classification allows us to consider each class individually, analyze and exploit properties of each class, and suggest individual planning methods. Algorithms for two of the defined classes are presented. Both algorithms were tested in a simulated environment, with up to 32 movable objects and 66 combined DOF. Some of these simulations (with up to 8 movables), as well as some experimental results using a real platform, and statistical data from more than 1000 randomly generated problems are presented here. |
| Copyright | The above paper is copyright by the Technion, Author(s), or others. Please contact the author(s) for more information |
Remark: Any link to this technical report should be to this page (http://www.cs.technion.ac.il/users/wwwb/cgi-bin/tr-info.cgi/1995/CIS/CIS9526), rather than to the URL of the PDF files directly. The latter URLs may change without notice.
To the list of the CIS technical reports of 1995
To the main CS technical reports page