2019/06/20 by Abdul Rahman Dabbour, Esra Erdem, Dabbour, Abdul Rahman +4
Computer Science · Engineering · #Artificial Intelligence (cs.AI) #FOS: Computer and information sciences #Optimization and Search Problems #Robotic Path Planning Algorithms #Robotics (cs.RO) #Robotics and Sensor-Based Localization #cs.AI #cs.RO
paper · pdf · doi:10.48550/arxiv.1906.08494
arxiv created 2019/06/20 · openalex publication_date 2019/06/20 · arxiv updated 2019/06/21 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
For planning rearrangements of objects in a clutter, it is required to know the goal configuration of the objects. However, in real life scenarios, this information is not available most of the time. We introduce a novel method that computes a collision-free placement of objects on a cluttered surface, while minimizing the total number and amount of displacements of the existing moveable objects. Our method applies nested local searches that perform multi-objective optimizations guided by heuristics. Experimental evaluations demonstrate high computational efficiency and success rate of our method, as well as good quality of solutions.