移动操纵任务基地位置优化（英文版）

英文标题：Base Placement Optimization for Coverage Mobile Manipulation Tasks中文摘要：本文旨在解决机器人移动操作中基础放置优化问题。通过使用基于 Scale-like disc（SLD）表示法的工作空间表示来分离任务约束和基础放置，提出了一种多目标优化算法，将涵盖面积、操作灵活性和时间成本等目标同时考虑。实验结果表明，所优化的基础放置显著提高了任务的覆盖度和效率。英文摘要：Base placement optimization (BPO) is a fundamental capability for mobilemanipulation and has been researched for decades. However, it is still verychallenging for some reasons. First, compared with humans, current robots areextremely inflexible, and therefore have higher require