RA-L 202058 citations
Multi-Robot Task and Motion Planning With Subtask Dependencies
James Motes, Read Sandström, Hannah Lee, Shawna L. Thomas, Nancy M. Amato
Abstract
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 couples task decomposition, allocation, and planning to support cases where the optimal solution depends on robot availability and inter-team conflict avoidance. We show improved planning time for simpler task sets and generate optimal solutions w.r.t. the state space representation for a broader range of problems than prior methods.
BibTeX
@inproceedings{ral2020_multirobottaskan,
title = {Multi-Robot Task and Motion Planning With Subtask Dependencies},
author = {James Motes and Read Sandström and Hannah Lee and Shawna L. Thomas and Nancy M. Amato},
booktitle = {RA-L 2020},
year = {2020}
}