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In this paper, we present a planner that plans a sequence of base positionsfor a mobile manipulator to efficiently and robustly collect objects stored indistinct trays. We achieve high efficiency by exploring the common areas wherea mobile manipulator can grasp objects stored in multiple trays simultaneouslyand move the mobile manipulator to the common areas to reduce the time neededfor moving the mobile base. We ensure robustness by optimizing the baseposition with the best clearance to positioning uncertainty so that a mobilemanipulator can complete the task even if there is a certain deviation from theplanned base positions. Besides, considering different styles of objectplacement in the tray, we analyze feasible schemes for dynamically updating thebase positions based on either the remaining objects or the target objects tobe picked in one round of the tasks. In the experiment part, we examine ourplanner on various scenarios, including different object placement: (1)Regularly placed toy objects; (2) Randomly placed industrial parts; anddifferent schemes for online execution: (1) Apply globally static basepositions; (2) Dynamically update the base positions. The experiment resultsdemonstrate the efficiency, robustness and feasibility of the proposed method.

Planning a Sequence of Base Positions for a Mobile Manipulator to Perform Multiple Pick-and-Place Tasks