Algorithms and Systems for Manipulating Multiple Objects
Algorithms and Systems for Manipulating Multiple Objects
复制标题
用于操作多个对象的算法和系统
DOI：
10.1109/tro.2022.3197013
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发表时间：
2023-02
影响因子：
7.8
通讯作者：
Zherong Pan;Andy Zeng;Yunzhu Li;Jingjin Yu;Kris K. Hauser
中科院分区：
文献类型：
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作者：
Zherong Pan;Andy Zeng;Yunzhu Li;Jingjin Yu;Kris K. Hauser
机器人对多个对象的操作是仓库自动化、服务机器人执行清洁和大规模对象分类等应用的重要主题。尽管问题的复杂性可以从几个物体到大型无序堆，但由于机器人和所有物体的高维关节构型空间，物体相互作用的复杂动力学以及杂波引起的模糊和遮挡，自主性仍然是一个重大的技术挑战。本文综述了多目标操作领域广泛的经典和最新研究成果，并根据任务、感知、预测模型和决策算法等维度对它们进行了分类。它还涵盖了在实践中实现鲁棒多目标操作系统的持续努力中面临的新兴趋势和开放问题。
Robot manipulation of multiple objects is an important topic for applications including warehouse automation, service robots performing cleaning, and large-scale object sorting. Although problems can range in complexity from a few objects to large disordered piles, autonomy remains a significant technical challenge due to the high-dimensional joint configuration space of the robot and all objects, the complex dynamics of object interaction, and the ambiguity and occlusion caused by clutter. This article surveys a broad range of classical and state-of-the-art research in multiobject manipulation and categorizes them along the dimensions of tasks, perception, predictive models, and decision-making algorithms. It also covers emerging trends and open problems faced in the ongoing effort to realize robust multiobject manipulation systems in practice.