Reusable Sampling-Based Techniques for Manipulation via Pushing
نویسندگان
چکیده
In this work, we consider the problem of manipulating a polygonal object through an obstacle-filled environment using only push interactions, or nudges. For this problem, we propose a manipulation planner that could handle multiple queries and offer solutions with a higher probability of success than traditional planners, especially in the face of uncertainty. We have implemented our approach in simulation, and offer some preliminary results to demonstrate the technique.
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