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We present an algorithm that produces a plan for relocating obstacles inorder to grasp a target in clutter by a robotic manipulator without collisions.We consider configurations where objects are densely populated in a constrainedand confined space. Thus, there exists no collision-free path for themanipulator without relocating obstacles. Since the problem of planning forobject rearrangement has shown to be NP-hard, it is difficult to performmanipulation tasks efficiently which could frequently happen in service domains(e.g., taking out a target from a shelf or a fridge). Our proposed planneremploys a collision avoidance scheme which has been widely used in mobile robotnavigation. The planner determines an obstacle to be removed quickly in realtime. It also can deal with dynamic changes in the configuration (e.g., changesin object poses). Our method is shown to be complete and runs in polynomialtime. Experimental results in a realistic simulated environment show that ourmethod improves up to 31% of the execution time compared to other competitors.

Efficient Obstacle Rearrangement for Object Manipulation Tasks in Cluttered Environments