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arXiv · 2207.08078

Toward Efficient Task Planning for Dual-Arm Tabletop Object Rearrangement

Kai Gao·Jingjin Yu
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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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Kai Gao, Jingjin Yu. 2022-07-17. Toward Efficient Task Planning for Dual-Arm Tabletop Object Rearrangement. https://arxiv.org/abs/2207.08078

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