Extending Task and Motion Planning with Feasibility Prediction: Towards Multi-Robot Manipulation Planning of Realistic Objects - LAAS - Laboratoire d'Analyse et d'Architecture des Systèmes Accéder directement au contenu
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.
Fichier principal
Vignette du fichier
ICRA2024sub.pdf (1.81 Mo) Télécharger le fichier
Origine Fichiers produits par l'(les) auteur(s)

Dates et versions

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

Identifiants

  • HAL Id : hal-04284213 , version 1

Citer

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⟩
111 Consultations
119 Téléchargements

Partager

Gmail Mastodon Facebook X LinkedIn More