Paper Info
Title
Fast and Resilient Manipulation Planning for Object Retrieval in Cluttered and Confined Environments
Abstract
In this article, we present a task and motion planning method for retrieving a target object from clutter using a robotic manipulator. We consider dense and cluttered environments where some objects must be removed in order to retrieve the target without collisions. To ensure a successful execution, the interplay between task planning (what to remove in what order) and motion plan...
Year
DOI
Venue
2021
10.1109/TRO.2020.3047472
IEEE Transactions on Robotics
Keywords
DocType
Volume
Robots,Planning,Task analysis,Clutter,End effectors,Robot kinematics,Collision avoidance
Journal
37
Issue
ISSN
Citations 
5
1552-3098
0
PageRank 
References 
Authors
0.34
0
5
Name
Order
Citations
PageRank
Changjoo Nam13510.17
Cheong Sang Hun201.01
Jinhwi Lee322.45
Dong Hwan Kim49412.87
ChangHwan Kim516022.61