Multi-Robot Task and Motion Planning with Subtask Dependencies

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

Research output: Contribution to journalArticlepeer-review


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 languageEnglish (US)
Article number9013090
Pages (from-to)3338-3345
Number of pages8
JournalIEEE Robotics and Automation Letters
Issue number2
StatePublished - Apr 2020


  • 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


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