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• W136402191 abstract "We introduce a novel computational method for geometricrearrangement of multiple movable objects on a cluttered surface,where objects can change locations more than once by pick and/orpush actions. This method consists of four stages: (i) finding tentativecollision-free final configurations for all objects (all the newobjects together with all other objects in the clutter) while also tryingto minimize the number of object relocations, (ii) gridization ofthe continuous plane for a discrete placement of the initial configurationsand the tentative final configurations of objects on the clutteredsurface, (iii) finding a sequence of feasible pick and push actionsto achieve the final discrete placement for the objects in the clutterfrom their initial discrete place, while simultaneously minimizing thenumber of object relocations, and (iv) finding feasible final configurationsfor all objects according to the optimal task plan calculatedin stage (iii). For (i) and (iv), we introduce algorithms that utilize localsearch with random restarts; for (ii), we introduce a mathematicalmodeling of the discretization problem and use the state-of-the-artASP reasoners to solve it; for (iii) we introduce a formal hybrid reasoningframework that allows embedding of geometric reasoning intask planning, and use the expressive formalisms and reasoners ofASP. We illustrate the usefulness of our integrated AI approach witha scenario that cannot be solved by the existing approaches." @default.
• W136402191 created "2016-06-24" @default.
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• W136402191 date "2014-08-01" @default.
• W136402191 modified "2023-09-23" @default.
• W136402191 title "Hybrid reasoning for geometric rearrangement of multiple movable objects on cluttered surfaces" @default.
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• W136402191 hasPublicationYear "2014" @default.
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