Toward Efficient Task Planning for Dual-Arm Tabletop Object Rearrangement

• URL: http://arxiv.org/abs/2207.08078v1
• Date: Sun, 17 Jul 2022 05:11:14 GMT
• Title: Toward Efficient Task Planning for Dual-Arm Tabletop Object Rearrangement
• Authors: Kai Gao, Jingjin Yu
• Abstract summary: In a non-monotone rearrangement task, complex object-object dependencies exist that require moving some objects multiple times to solve an instance. We develop effective task planning algorithms for scheduling the pick-n-place sequence that can be properly distributed between the two arms.
• Score: 12.928188950810043
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: We investigate the problem of coordinating two robot arms to solve non-monotone tabletop multi-object rearrangement tasks. In a non-monotone rearrangement task, complex object-object dependencies exist that require moving some objects multiple times to solve an instance. In working with two arms in a large workspace, some objects must be handed off between the robots, which further complicates the planning process. For the challenging dual-arm tabletop rearrangement problem, we develop effective task planning algorithms for scheduling the pick-n-place sequence that can be properly distributed between the two arms. We show that, even without using a sophisticated motion planner, our method achieves significant time savings in comparison to greedy approaches and naive parallelization of single-robot plans.

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