Shawna L. Thomas

2 accepted papers

2020

Multi-Robot Task and Motion Planning With Subtask Dependencies

James Motes, Read Sandström, Hannah Lee, Shawna L. Thomas, Nancy M. Amato

RA-L 2020

We present a multi-robot integrated task and motion method capable of handling sequential subtask dependencies within multiply decomposable tasks. We map the multi-robot pathfinding method, Conflict Based Search, to task planning and integrate this with motion planning to create TMP-CBS. TMP-CBS cou

Cited by 58 Source ↗Scholar ↗

2019

Interaction Templates for Multi-Robot Systems

James Motes, Read Sandström, Will Adams, Tobi Ogunyale, Shawna L. Thomas, Nancy M. Amato

RA-L 2019

This letter describes a framework for multi-robot problems that require or utilize interactions between robots. Solutions consider interactions on a motion planning level to determine the feasibility and cost of the multi-robot team solution. Modeling these problems with current integrated task and

Cited by 12 Source ↗Scholar ↗