Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Planning an Efficient and Robust Base Sequence for a Mobile Manipulator
  Performing Multiple Pick-and-place Tasks   In this paper, we address efficiently and robustly collecting objects stored
in different trays using a mobile manipulator. A resolution complete method,
based on precomputed reachability database, is proposed to explore
collision-free inverse kinematics (IK) solutions and then a resolution complete
set of feasible base positions can be determined. This method approximates a
set of representative IK solutions that are especially helpful when solving IK
and checking collision are treated separately. For real world applications, we
take into account the base positioning uncertainty and plan a sequence of base
positions that reduce the number of necessary base movements for collecting the
target objects, the base sequence is robust in that the mobile manipulator is
able to complete the part-supply task even there is certain deviation from the
planned base positions. Our experiments demonstrate both the efficiency
compared to regular base sequence and the feasibility in real world
applications.

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The categories of this paper are: cond-mat
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The categories of this paper are: hep-th
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The categories of this paper are: quant-ph
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The categories of this paper are: q-bio
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The categories of this paper are: stat
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The categories of this paper are: adap-org
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The categories of this paper are: hep-ph
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The categories of this paper are: nucl-th
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The categories of this paper are: acc-phys
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The categories of this paper are: gr-qc
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The categories of this paper are: ao-sci
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The categories of this paper are: q-alg
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The categories of this paper are: patt-sol
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The categories of this paper are: nlin
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The categories of this paper are: math-ph
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The categories of this paper are: cmp-lg