This paper presents the resolve spatial constraints (RSC) algorithm for manipulation
planning in a domain with movable obstacles. Empirically we show that our algorithm …

In this paper, we address the problem of Navigation Among Movable Obstacles (NAMO): a
practical extension to navigation for humanoids and other dexterous mobile robots. The …

This paper combines grasp analysis and manipulation planning techniques to perform fast
grasp planning in complex scenes. In much previous work on grasping, the object being …

In this paper we present artificial constraints as a method for guiding heuristic search in the
computationally challenging domain of motion planning among movable obstacles. The …

We present a novel planning algorithm for the problem of placing objects on a cluttered
surface such as a table, counter or floor. The planner (1) selects a placement for the target …

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 …

We define the Diverse Action Manipulation (DAMA) problem in which we are given a mobile
robot, a set of movable objects, and a set of diverse, possibly non-prehensile manipulation …

We introduce a novel computational method for geometric rearrangement of multiple
movable objects on a cluttered surface, where objects can change locations more than once …

This paper describes software system for a humanoid robot viewed from a motion
generation aspect by taking kitchen helping behaviors as an example of a real world task …

We investigate the problem of coordinating two robot arms to solve non-monotone tabletop
multi-object re-arrangement tasks. In a non-monotone rearrangement task, complex object …