James Motes, Read Sandstrom, Hannah Lee, Shawna Thomas, Nancy M. Amato,
IEEE Robotics and Automation Letters (RA-L), 5(2): 3338-3345, 2020.
Jointly published in the IEEE International Conference on Robotics and Automation (ICRA), 2020.
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.
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