Scipediacontent: Scipediacontent moved page Draft Content 670183320 to Hauser Wang 2018a

2021-01-28T18:11:46Z

Scipediacontent moved page Draft Content 670183320 to Hauser Wang 2018a

Scipediacontent: Created page with " == Abstract == Recent progress in the field of robotic manipulation has generated interest in fully automatic object packing in warehouses. This paper proposes a formulation..."

2021-01-28T18:11:41Z

Created page with " == Abstract == Recent progress in the field of robotic manipulation has generated interest in fully automatic object packing in warehouses. This paper proposes a formulation..."

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== Abstract ==

Recent progress in the field of robotic manipulation has generated interest in fully automatic object packing in warehouses. This paper proposes a formulation of the packing problem that is tailored to the automated warehousing domain. Besides minimizing waste space inside a container, the problem requires stability of the object pile during packing and the feasibility of the robot motion executing the placement plans. To address this problem, a set of constraints are formulated, and a constructive packing pipeline is proposed to solve these constraints. The pipeline is able to pack geometrically complex, non-convex objects while satisfying stability and robot packability constraints. In particular, a new 3D positioning heuristic called Heightmap-Minimization heuristic is proposed, and heightmaps are used to speed up the search. Experimental evaluation of the method is conducted with a realistic physical simulator on a dataset of scanned real-world items, demonstrating stable and high-quality packing plans compared with other 3D packing methods.

== Original document ==

The different versions of the original document can be found in:

* [http://arxiv.org/abs/1812.04093 http://arxiv.org/abs/1812.04093]

* [http://arxiv.org/pdf/1812.04093 http://arxiv.org/pdf/1812.04093]

* [http://xplorestaging.ieee.org/ielx7/8780387/8793254/08794049.pdf?arnumber=8794049 http://xplorestaging.ieee.org/ielx7/8780387/8793254/08794049.pdf?arnumber=8794049],
: [http://dx.doi.org/10.1109/icra.2019.8794049 http://dx.doi.org/10.1109/icra.2019.8794049]

* [https://dblp.uni-trier.de/db/conf/icra/icra2019.html#WangH19a https://dblp.uni-trier.de/db/conf/icra/icra2019.html#WangH19a],
: [https://academic.microsoft.com/#/detail/2967842325 https://academic.microsoft.com/#/detail/2967842325]

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Hauser Wang 2018a - Revision history

Scipediacontent: Scipediacontent moved page Draft Content 670183320 to Hauser Wang 2018a

Scipediacontent: Created page with " == Abstract == Recent progress in the field of robotic manipulation has generated interest in fully automatic object packing in warehouses. This paper proposes a formulation..."