Push Planning for Object Placement in Clutter Using the PR-2
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Abstract
The goal of this project is to investigate the implementation
of a planning algorithm for the problem of placing objects
on a cluttered surface with a PR-2 mobile manipulator. The
original push planning algorithm [1] was initially developed
as a simulation. We modified the simulator for execution in
real-world cluttered environments. This paper discusses the
challenges of implementation and presents empirical results
that determine how well the simulator models the real world
as clutter is pushed and collides with other objects.
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2011-09
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