3 citations · 12 across the 19 of their papers we have counts for
5 papers · 1 filter
Fast High-Quality Tabletop Rearrangement in Bounded Workspace
Kai Gao, Darren Lau, Baichuan Huang +2
In this paper, we examine the problem of rearranging many objects on a tabletop in a cluttered setting using overhand grasps. Efficient solutions for the problem, which capture a c…
Capacitated Vehicle Routing with Target Geometric Constraints
Kai Gao, Jingjin Yu
We investigate the capacitated vehicle routing problem (CVRP) under a robotics context, where a vehicle with limited payload must complete delivery (or pickup) tasks to serve a set…
On Minimizing the Number of Running Buffers for Tabletop Rearrangement
Kai Gao, Si Wei Feng, Jingjin Yu
For tabletop rearrangement problems with overhand grasps, storage space outside the tabletop workspace, or buffers, can temporarily hold objects which greatly facilitates the resol…
Sensor Placement for Globally Optimal Coverage of 3D-Embedded Surfaces
Si Wei Feng, Kai Gao, Jie Gong +1
We carry out a structural and algorithmic study of a mobile sensor coverage optimization problem targeting 2D surfaces embedded in a 3D workspace. The investigated settings model m…
Uniform Object Rearrangement: From Complete Monotone Primitives to Efficient Non-Monotone Informed Search
Rui Wang, Kai Gao, Daniel Nakhimovich +2
Object rearrangement is a widely-applicable and challenging task for robots. Geometric constraints must be carefully examined to avoid collisions and combinatorial issues arise as…