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.
| Original language | English (US) |
|---|---|
| Article number | 9013090 |
| Pages (from-to) | 3338-3345 |
| Number of pages | 8 |
| Journal | IEEE Robotics and Automation Letters |
| Volume | 5 |
| Issue number | 2 |
| DOIs | |
| State | Published - Apr 2020 |
| Externally published | Yes |
Keywords
- Task planning
- motion and path planning
- multi-robot systems
ASJC Scopus subject areas
- Control and Systems Engineering
- Biomedical Engineering
- Human-Computer Interaction
- Mechanical Engineering
- Computer Vision and Pattern Recognition
- Computer Science Applications
- Control and Optimization
- Artificial Intelligence