Advances in sensor technologies, object detection algorithms, planning frameworks and hardware designs have motivated the deployment of robots in warehouse automation. A variety of such applications, like order fulfillment or packing tasks, require picking objects from unstructured piles and carefully arranging them in bins or containers. Desirable solutions need to be low-cost, easily deployable and controllable, making minimalistic hardware choices desirable. The challenge in designing an effective solution to this problem relates to appropriately integrating multiple components, so as to achieve a robust pipeline that minimizes failure conditions. The current work proposes a complete pipeline for solving such packing tasks, given access only to RGB-D data and a single robot arm with a vacuum-based end-effector, which is also used as a pushing finger. To achieve the desired level of robustness, three key manipulation primitives are identified, which take advantage of the environment and simple operations to successfully pack multiple cubic objects. The overall approach is demonstrated to be robust to execution and perception errors. The impact of each manipulation primitive is evaluated by considering different versions of the proposed pipeline, which incrementally introduce reasoning about object poses and corrective manipulation actions.
The 3D bin packing problem, which is NP-hard @cite_5 @cite_3 , requires objects of different or similar volumes to be packed into a cubical bin. Most strategies search for @math -optimal solutions via greedy algorithms @cite_20 . While bin packing is studied extensively, to the best of the authors' knowledge there are few attempts to deploy bin packing solutions on real robots, where inaccuracies in vision and control are taken into account. Such inaccuracies have been considered in the context of efforts relating to the Amazon Robotics Challenge @cite_13 @cite_12 @cite_21 @cite_11 @cite_0 @cite_6 but most of these systems do not deal with bin packing. Most deployments of automatic packing use mechanical components, such as conveyor trays, that are specifically designed for certain products @cite_10 , rendering them difficult to customize and deploy. Industrial packing systems also assume that the objects are already mechanically sorted before packing. While this work makes the assumption that the objects have the same dimensions, the setup is more challenging as the objects are randomly thrown in the initial bin.
@cite_10 @cite_21 @cite_3 @cite_6 @cite_0 @cite_5 @cite_13 @cite_12 @cite_20 @cite_11
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Abstract The bin packing problem is a well-studied problem in combinatorial optimization. In the classical bin packing problem, we are given a list of real numbers in ( 0 , 1 ] and the goal is to place them in a minimum number of bins so that no bin holds numbers summing to more than 1. The problem is extremely important in practice and finds numerous applications in scheduling, routing and resource allocation problems. Theoretically the problem has rich connections with discrepancy theory, iterative methods, entropy rounding and has led to the development of several algorithmic techniques. In this survey we consider approximation and online algorithms for several classical generalizations of bin packing problem such as geometric bin packing, vector bin packing and various other related problems. There is also a vast literature on mathematical models and exact algorithms for bin packing. However, this survey does not address such exact algorithms. In two-dimensional geometric bin packing , we are given a collection of rectangular items to be packed into a minimum number of unit size square bins. This variant has a lot of applications in cutting stock, vehicle loading, pallet packing, memory allocation and several other logistics and robotics related problems. In d -dimensional vector bin packing , each item is a d -dimensional vector that needs to be packed into unit vector bins. This problem is of great significance in resource constrained scheduling and in recent virtual machine placement in cloud computing. We also consider several other generalizations of bin packing such as geometric knapsack, strip packing and other related problems such as vector scheduling, vector covering etc. We survey algorithms for these problems in offline and online setting, and also mention results for several important special cases. We briefly mention related techniques used in the design and analysis of these algorithms. In the end we conclude with a list of open problems. We revisit the classic online bin packing problem studied in the half-century. In this problem, items of positive sizes no larger than 1 are presented one by one to be packed into subsets called bins of total sizes no larger than 1, such that every item is assigned to a bin before the next item is presented. We use online partitioning of items into classes based on sizes, as in previous work, but we also apply a new method where items of one class can be packed into more than two types of bins, where a bin type is defined according to the number of such items grouped together. Additionally, we allow the smallest class of items to be packed in multiple kinds of bins, and not only into their own bins. We combine this with the approach of packing of sufficiently big items according to their exact sizes. Finally, we simplify the analysis of such algorithms, allowing the analysis to be based on the most standard weight functions. This simplified analysis allows us to study the algorithm which we defined based on all these ideas. This leads us to the design and analysis of the first algorithm of asymptotic competitive ratio strictly below 1.58, specifically, we break this barrier by providing an algorithm AH (Advanced Harmonic) whose asymptotic competitive ratio does not exceed 1.57829. Our main contribution is the introduction of the simple analysis based on weight function to analyze the state of the art online algorithms for the classic online bin packing problem. The previously used analytic tool named weight system was too complicated for the community in this area to adjust it for other problems and other algorithmic tools that are needed in order to improve the current best algorithms. We show that the weight system based analysis is not needed for the analysis of the current algorithms for the classic online bin packing problem. The importance of a simple analysis is demonstrated by analyzing several new features together with all existing techniques, and by proving a better competitive ratio than the previously best one. In the three-dimensional bin packing problem the task is to orthogonally pack a given set of rectangular items into a minimum number of three-dimensional rectangular bins. We give a characterization of the algorithm proposed by (2000) for the exact solution of the problem, showing that not all orthogonal packings can be generated by the proposed algorithm. The packings, however, have the property of being robot packings, which is relevant in practical settings. References to the modified algorithm, which solves the orthogonal as well as robot packable three-dimensional problem, are given. The bin packing problem is to find the minimum number of bins of size one to pack a list of items with sizes a 1 ,…, a n in (0,1]. Using uniform sampling, which selects a random element from the input list each time, we develop a randomized @math time (1+e )-approximation scheme for the bin packing problem. We show that every randomized algorithm with uniform random sampling needs @math time to give an (1+e )-approximation. For each function s (n ): N →N , define ∑(s (n )) to be the set of all bin packing problems with the sum of item sizes equal to s (n ). We show that ∑(n b ) is NP-hard for every b ∈(0,1]. This implies a dense sublinear time hierarchy of approximation schemes for a class of NP-hard problems, which are derived from the bin packing problem. We also show a randomized streaming approximation scheme for the bin packing problem such that it needs only constant updating time and constant space, and outputs an (1+e )-approximation in @math time. Let S (δ )-bin packing be the class of bin packing problems with each input item of size at least δ . This research also gives a natural example of NP-hard problem (S (δ )-bin packing) that has a constant time approximation scheme, and a constant time and space sliding window streaming approximation scheme, where δ is a positive constant.