Object Placement on Cluttered Surfaces: A Nested Local Search Approach

Abstract-- For planning rearrangements of objects in a clutter, it is required to know the goal configuration of the objects. The intermediate local search relies I. INTRODUCTION For instance, typical human environments, object movements. RELATED WORK are usually cluttered; and manipulating the environment to deal with such clutter is integral to performing everyday Related work in robotics Rearrangement of multiple movable chores in social environments, whether that means rearranging objects, a challenging problem that involves planning, objects upon a surface or across multiple surfaces. In particular, planning for geometric a surface is a difficult problem, because it requires the rearrangement with multiple movable objects and its variations, manipulation of existing objects on the surface, as well as such as navigation among movable obstacles [1], [2], the placement of new objects to be put on the surface. To have been studied using various approaches. Since even a solve such a problem, in general, task planning is required simplified variant the rearrangement problem with only one to decide for the order of manipulation actions (e.g., when to movable obstacle has been proved to be NPhard [3], [4], pick, place, move objects), and feasibility checks are required most studies introduce several important restrictions to the to check the execution of each manipulation action against problem, like monotonicity of plans [5]-[9], where each geometric/kinematic constraints (e.g., to avoid collisions).