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cs.RO2023
Resolution Complete In-Place Object Retrieval given Known Object Models
Daniel Nakhimovich, Yinglong Miao, Kostas E. Bekris
This work proposes a robot task planning framework for retrieving a target object in a confined workspace among multiple stacked objects that obstruct the target. The robot can use…
cs.RO2022★ 1 cited
Persistent Homology for Effective Non-Prehensile Manipulation
Ewerton R. Vieira, Daniel Nakhimovich, Kai Gao +3
This work explores the use of topological tools for achieving effective non-prehensile manipulation in cluttered, constrained workspaces. In particular, it proposes the use of pers…