Pebble图的相似部分重排
Similar Part Rearrangement With Pebble Graphs
摘要：
这项工作提出了一种方法，有效地计算操作路径，重新安排在一个混乱的空间中的类似对象。该解决方案可用于将类似的产品以期望的布置放置在工厂地板中，或者用于从被类似尺寸的物体阻挡的货架取回特定的物体。这些都是具有挑战性的问题，因为它们涉及组合大，连续的配置空间，由于存在多个移动机构和运动学复杂的机械手。这项工作利用算法理论，多机器人运动规划和操纵规划的想法，提出适当的图形表示这一挑战。这些表示允许快速推理操纵路径是否允许在整组对象布置之间的过渡，而不必显式地枚举每对布置的路径。所提出的方法还允许利用预先计算给定的操作路线图，用于在同一杂乱空间中传输单个对象。由此产生的方法进行评估，在模拟巴克斯特机器人的现实模型，并在实际系统上开环执行，表明该方法解决了复杂的情况下，是有前途的可扩展性和成功率。
英文摘要：
This work proposes a method for effectively computing manipulation paths to rearrange similar objects in a cluttered space. The solution can be used to place similar products in a factory floor in a desirable arrangement or for retrieving a particular object from a shelf blocked by similarly sized objects. These are challenging problems as they involve combinatorially large, continuous configuration spaces due to the presence of multiple moving bodies and kinematically complex manipulators. This work leverages ideas from algorithmic theory, multi-robot motion planning and manipulation planning to propose appropriate graphical representations for this challenge. These representations allow to quickly reason whether manipulation paths allow the transition between entire sets of objects arrangements without having to explicitly enumerate the path for each pair of arrangements. The proposed method also allows to take advantage of precomputation given a manipulation roadmap for transferring a single object in the same cluttered space. The resulting approach is evaluated in simulation for a realistic model of a Baxter robot and executed in open-loop on the real system, showing that the approach solves complex instances and is promising in terms of scalability and success ratio.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
