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Rearranging objects on a planar surface arises in a variety of roboticapplications, such as product packaging. Using two arms can improve efficiencybut introduces new computational challenges. This paper studies the structureof dual-arm rearrangement for synchronous, monotone tabletop setups anddevelops an optimal mixed integer model. It then describes an efficient andscalable algorithm, which first minimizes the cost of object transfers and thenof moves between objects. This is motivated by the fact that, asymptotically,object transfers dominate the cost of solutions. Moreover, a lazy strategyminimizes the number of motion planning calls and results in significantspeedups. Theoretical arguments support the benefits of using two arms andindicate that synchronous execution, in which the two arms perform togethereither transfers or moves, introduces only a small overhead. Experimentssupport these points and show that the scalable method can quickly computesolutions close to the optimal for the considered setup.

Fast, High-Quality Dual-Arm Rearrangement in Synchronous, Monotone Tabletop Setups