Abstract
Robots would be much more useful if they could move obstacles out of the way.
Traditional motion planning searches for collision free paths from a start to a goal. However, real world search and rescue, construction, home and nursing home domains contain debris, materials clutter, doors and objects that need to be moved by the robot.
Theoretically, one can represent all possible interactions between the robot and movable objects as a huge search. We present methods that simplify the problem and make Navigation Among Movable Obstacles (NAMO) a practical challenge that can be addressed with existing hardware and computation.
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