Year: 2019
Type: preprint
Abstract: We examine an important combinatorial challenge in clearing clutter using a mobile robot equipped with a manipulator, seeking to compute an optimal object removal sequence for minimizing the task completion time, assuming that each object is grasped once and then subsequently removed. On the structural side, we establish that such an optimal sequence can be NP-hard to compute, even when no two objects to be removed have any overlap. Then, we construct asymptotically optimal and heuristic algorithms for clutter removal. Employing dynamic programming, our optimal algorithm scales to 40 objects. On the other hand, for random clutter, fast greedy algorithms tend to produce solutions comparable to these generated by the optimal algorithm.
Source: arXiv (Cornell University)
Authors: Tang, Wei N., Yu, Jingjin
Institution: Rutgers, The State University of New Jersey
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W2947094664