کنفرانس مهندسی برق ایران

صفحه اصلی / سی و چهارمین کنفرانس بین المللی مهندسی برق

Dual-Arm Tabletop Rearrangement with Movable Stacking and Gap-Aware Push Transfers

نویسندگان :

Mohammadreza Firoozalizadeh¹ Zakiye Rostamirad² Arman Barghi³ Ahmad Kalhor⁴ Mohammadreza Nayeri⁵ Mehdi Tale Masouleh⁶

1- دانشگاه تهران، دانشکده مهندسی برق و کامپیوتر 2- دانشگاه تهران، دانشکده مهندسی برق و کامپیوتر 3- دانشگاه تهران، دانشکده مهندسی برق و کامپیوتر 4- دانشگاه تهران، دانشکده مهندسی برق و کامپیوتر 5- دانشگاه تهران، دانشکده مهندسی برق و کامپیوتر 6- دانشگاه تهران، دانشکده مهندسی برق و کامپیوتر

کلمات کلیدی :

Multi-robot systems،dual-arm manipulation،object rearrangement،Monte Carlo Tree Search،on-prehensile manipulation،task planning

چکیده :

Dual-arm tabletop object rearrangement in cluttered, non-monotone scenes is studied, where limited free space necessitates intermediate buffering and objects may need to cross a shared reachability boundary between the arms. The workspace is modeled as a discrete grid with heterogeneous rectangular objects (with optional stacking relations), and planning is performed using a cost-aware Monte Carlo Tree Search that explores simultaneous action pairs for both manipulators. To better cope with tight free-space constraints, the concept of dynamic buffers is leveraged by forming movable temporary stacks that can be created and relocated during planning . For cross-boundary transfer, Gap-Aware Push Transfers are presented: a boundary scanning procedure that searches for collision-free gaps, aligns the object near the chosen crossing via pick-and-place, and executes a straight push into the receiving workspace. Preliminary results suggest that gap-aware push transfers reduce total execution cost compared to a fixed handoff location while achieving comparable or fewer executed actions.