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\begin{document}

\title{Planning Dense Object Packing by Pushing Objects}



\author[1]{Kazuki Iwao }%
\author[1]{Takao Nishi }%
\author[1]{Takuya Kiyokawa }%
\author[1]{Damien Petit }%
\author[1]{Weiwei Wan }%
\author[1]{Kensuke Harada }%
\affil[1]{Affiliation not available}%


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  \date{June 15, 2024}


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\begin{abstract}
To realize a dense object placement into a container, we propose a
robotic packing motion planner by pushing objects to the side of other
objects. Our method comprises three planning strategies, i.e., object
placement planning, robotic packing-action planning, and action sequence
planning. Object placement planning generates objects' placement into a
container without gaps between objects. Based on the planned placement,
the robotic packing-action planner selectively uses two action
strategies where one is to directly place the object in the desired
location of a container by using a pick-andplace approach, and the other
is to first place the object at a certain distance from the surrounding
object and then push it to achieve the placement without gaps. Finally,
the action sequence planning plans the order of selected manipulation
strategies. Through experiments, we confirmed that the robot efficiently
packs multiple objects into a container by effectively using object
pushing.%
\end{abstract}%



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