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Communication Dans Un Congrès Année : 2024

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 multirobot 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 propose a feasibility-enabled multirobot TAMP algorithm capable of tackling complex multi-robot manipulation problems. Also, we expand on our previous work on action and grasp feasibility prediction [1] by extending its use to mesh-shaped objects. 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-04636503 , version 1 (05-07-2024)

Identifiants

  • HAL Id : hal-04636503 , 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. 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024, Abu Dhabi, United Arab Emirates. ⟨hal-04636503⟩
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