Journal
IEEE ROBOTICS AND AUTOMATION LETTERS
Volume 5, Issue 2, Pages 3338-3345Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2020.2976329
Keywords
Task planning; motion and path planning; multi-robot systems
Categories
Funding
- NSF [CCF-1423111, EFRI-1240483]
- DREU Program
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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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