Multi-Robot Task and Motion Planning With Subtask Dependencies
| Autor: | Nancy M. Amato, Read Sandstrom, Hannah Lee, James Motes, Shawna Thomas |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Robot kinematics Control and Optimization State-space representation business.industry Computer science Mechanical Engineering Biomedical Engineering 02 engineering and technology Computer Science Applications Task (project management) Human-Computer Interaction 020901 industrial engineering & automation Artificial Intelligence Control and Systems Engineering 0202 electrical engineering electronic engineering information engineering Task analysis Robot 020201 artificial intelligence & image processing Computer Vision and Pattern Recognition Motion planning Artificial intelligence business Pathfinding |
| Zdroj: | IEEE Robotics and Automation Letters. 5:3338-3345 |
| ISSN: | 2377-3774 |
| DOI: | 10.1109/lra.2020.2976329 |
| Popis: | 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. |
| Databáze: | OpenAIRE |
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