An anytime algorithm integrates sampling-based motion planning with hierarchical search for optimal object placement poses in cluttered environments.
For instance, an object may be placed flat on a horizontal surface, leaned against a wall, placed on a hook, or laid on top of other objects
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Object Placement Planning and Optimization for Robot Manipulators
An anytime algorithm integrates sampling-based motion planning with hierarchical search for optimal object placement poses in cluttered environments.