Heuristic graph based task planner for table top manipulators (handles occupancy issues and stacking in scenes)
- Target place occupancy detection
- Fast and optimal buffer place sampler using marching grid algorithm (original work (marching grid is an already existing optimization method))
- Stack-relationships detection using ray casting (original work)
- Fast and optimal buffer spot sampling using object kernel convolutions method (original work)
- Height map based grasp modification (Original work)