Paper on Dual-arm Rearrangement Accepted at WAFR 2018:
Congratulations to Rahul Shome for the paper:
“Fast, High-Quality Dual-Arm Rearrangement in Synchronous, Monotone Tabletop Setups”
by Rahul Shome, Kiril Solovey, Jingjin Yu, Dan Halperin and Kostas Bekris
which has been accepted to appear at the 2018 edition of the Workshop on the Algorithmic Foundations of Robotics (WAFR) taking place at the Universidad Politécnica de Yucatán in Mérida, México, December 9-11, 2018. WAFR is the primary venue for algorithmic robotics research and a highly respected meeting overall.
The paper continues a – now – long and successful tradition of the research group in the area of robotic rearrangement and focuses on the case of two arms. Using two arms in this domain can improve efficiency but introduces new combinatorial challenges.
This paper studies the structure of dual-arm rearrangement for synchronous, monotone tabletop setups and develops an optimal MILP model. It then describes an efficient and scalable algorithm, which first minimizes the cost of object transfers and then of transitions between objects. This is motivated by the fact that asymptotically object transfers dominate the cost of solutions. Moreover, a lazy strategy minimizes the number of motion planning calls and results in significant speedups. Theoretical arguments support the benefits of using two arms and indicate that synchronous operation introduces only a small cost increase. Experiments support these points and show that the scalable method can quickly computate solutions close to optimal for the considered setup.