Planning Base Poses and Object Grasp Choices for Table-Clearing Tasks Using Dynamic Programming

Sune Sørensen, Lakshadeep Naik, Peter Nguyen, Aljaz Kramberger, Leon Bodenhagen, Mikkel Baun Kjærgaard, Norbert Krüger, Norbert Krüger

2024

Abstract

Given a setup with external cameras and a mobile manipulator with an eye-in-hand camera, we address the problem of computing a sequence of base poses and grasp choices that allows for clearing objects from a table while minimizing the overall execution time. The first step in our approach is to construct a world model, which is generated by an anchoring process, using information from the external cameras. Next, we developed a planning module which – based on the contents of the world model - is able to create a plausible plan for reaching base positions and suitable grasp choices keeping execution time minimal. Comparing our approach to two baseline methods shows that the average execution cost of plans computed by our approach is 40% lower than the naive baseline and 33% lower than the heuristic-based baseline. Furthermore, we integrate our approach in a demonstrator, undertaking the full complexity of the problem.

Paper Citation

in Harvard Style

Sørensen S., Naik L., Nguyen P., Kramberger A., Bodenhagen L., Baun Kjærgaard M. and Krüger N. (2024). Planning Base Poses and Object Grasp Choices for Table-Clearing Tasks Using Dynamic Programming. In Proceedings of the 16th International Conference on Agents and Artificial Intelligence - Volume 3: ICAART; ISBN 978-989-758-680-4, SciTePress, pages 1316-1323. DOI: 10.5220/0012472700003636

in Bibtex Style

@conference{icaart24,
author={Sune Sørensen and Lakshadeep Naik and Peter Nguyen and Aljaz Kramberger and Leon Bodenhagen and Mikkel Baun Kjærgaard and Norbert Krüger},
title={Planning Base Poses and Object Grasp Choices for Table-Clearing Tasks Using Dynamic Programming},
booktitle={Proceedings of the 16th International Conference on Agents and Artificial Intelligence - Volume 3: ICAART},
year={2024},
pages={1316-1323},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012472700003636},
isbn={978-989-758-680-4},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 16th International Conference on Agents and Artificial Intelligence - Volume 3: ICAART
TI - Planning Base Poses and Object Grasp Choices for Table-Clearing Tasks Using Dynamic Programming
SN - 978-989-758-680-4
AU - Sørensen S.
AU - Naik L.
AU - Nguyen P.
AU - Kramberger A.
AU - Bodenhagen L.
AU - Baun Kjærgaard M.
AU - Krüger N.
PY - 2024
SP - 1316
EP - 1323
DO - 10.5220/0012472700003636
PB - SciTePress