MultiObject Grasp Planning in High Distribution Density of Service Robot using Inverse Reachability Map and Base Repositioning For tasks as object grasping, it is important for service robot to know the knowledge about where the service robot base pose should be. The inverse reachability map (IRM) contain the potential base pose for the robot. It can be used for the service robot to generate a suitable base pose for grasping. In this paper we propose an approach for service robot to generate autonomous grasping behavior of unknown objects scattered on the ground. IRM is used to generate the final base pose of the robot when grasping multiobject at a high distribution density. Considering the uncertainties of the service robot navigation, a precise movement is used for service robot to reach the final base pose. This approach uses a predefined poses for manipulator to grasping objects and use the motion of the mobile platform to compensate for its inflexibility. The approach is evaluated in the system we modified from Turtlebot, and the experiment with different type objects demonstrate its flexibility and applicability.

Object Placement Planning and optimization for Robot Manipulators We address the problem of planning the placement of a rigid object with a dualarm robot in a cluttered environment. In this task, we need to locate a collisionfree pose for the object that a) facilitates the stable placement of the object, b) is reachable by the robot and c) optimizes a usergiven placement objective. In addition, we need to select which robot arm to perform the placement with. To solve this task, we propose an anytime algorithm that integrates samplingbased motion planning with a novel hierarchical search for suitable placement poses. Our algorithm incrementally produces approach motions to stable placement poses, reaching placements with better objective as runtime progresses. We evaluate our approach for two different placement objectives, and observe its effectiveness even in challenging scenarios.