Robot manipulation of multiple objects is an important topic for applications including
warehouse automation, service robots performing cleaning, and large-scale object sorting …

We present an algorithm determining where to relocate objects inside a cluttered and
confined space while rearranging objects to retrieve a target object. Although methods that …

This paper presents a task and motion planning (TAMP) framework for a robotic manipulator
in order to retrieve a target object from clutter. We consider a configuration of objects in a …

From residential homes to commercial outlets and industrial warehouses, shelves are widely
used to store a variety of objects. We conjecture that optimizing object arrangements can …

We consider the problem of retrieving a target object from a confined space by two robotic
manipulators where overhand grasps are not allowed. If other movable obstacles occlude …

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 …

Solving task planning problems involving multiple objects and multiple robotic arms poses
scalability challenges. Such problems involve not only coordinating multiple high-DoF arms …

We propose the redistribution-reconfiguration (red-rec) algorithm to prepare large
configurations of atoms using programmable arrays of optical traps. Red-rec exploits simple …

Shelves are commonly used to store objects in homes, stores, and warehouses. We
formulate the problem of Optimal Shelf Arrangement (OSA), where the goal is to optimize the …

Object rearrangement is a fundamental sub-task in accomplishing a great many physical
tasks. As such, effectively executing rearrangement is an important skill for intelligent robots …