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Pré-Publication, Document De Travail Année : 2023

Extending Task and Motion Planning with Feasibility Prediction: Towards Multi-Robot Manipulation Planning of Realistic Objects

Smail Ait Bouhsain
Rachid Alami
Thierry Simeon

Résumé

The hybrid discrete/continuous nature of task and motion planning (TAMP) results often in a combinatorial explosion. This challenge is even more pronounced in multi- robot TAMP problems due to the increase in dimensionality of the action space. Previous works use action feasibility prediction as a heuristic to accelerate TAMP. However, these methods are limited to box-shaped objects and specific single or dual robot settings. In this paper, we expand on our previous work on action and grasp feasibility prediction [1] by extending its use to complex-shaped objects and multi-robot systems. Also, we propose a feasibility-enabled multi-robot TAMP algorithm ca- pable of tackling complex multi-robot manipulation problems. We demonstrate the performance of our method compared to a non feasibility-informed baseline, and show its ability to handle TAMP problems requiring the collaboration of multiple robots.
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Dates et versions

hal-04284213 , version 1 (14-11-2023)

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  • HAL Id : hal-04284213 , version 1

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Smail Ait Bouhsain, Rachid Alami, Thierry Simeon. Extending Task and Motion Planning with Feasibility Prediction: Towards Multi-Robot Manipulation Planning of Realistic Objects. 2023. ⟨hal-04284213⟩
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