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This paper presents planning algorithms for a robotic manipulator with afixed base in order to grasp a target object in cluttered environments. Weconsider a configuration of objects in a confined space with a high density sono collision-free path to the target exists. The robot must relocate someobjects to retrieve the target while avoiding collisions. For fast completionof the retrieval task, the robot needs to compute a plan optimizing anappropriate objective value directly related to the execution time of therelocation plan.  We propose planning algorithms that aim to minimize the number of objects tobe relocated. Our objective value is appropriate for the object retrieval taskbecause grasping and releasing objects often dominate the total running time.In addition to the algorithm working in fully known and static environments, wepropose algorithms that can deal with uncertain and dynamic situations incurredby occluded views. The proposed algorithms are shown to be complete and run inpolynomial time. Our methods reduce the total running time significantlycompared to a baseline method (e.g., 25.1% of reduction in a known staticenvironment with 10 objects

Planning for target retrieval using a robotic manipulator in cluttered and occluded environments