Conflict-Based Multi-Robot Multi-Goal Task and Motion Planning

Junho Lee, Derek Long*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference paperpeer-review


Task and Motion Planning (TAMP) has been a subject of extensive research in goal-directed robotic control systems. The main challenge is to determine the relationship between the symbolic representation that supports goal-oriented task planning and the continuous configuration space representation that is used by a motion planner. In this paper, we explore a complex version of this problem, in which multiple robots operate within the same work area, performing multiple tasks as they move between work locations.
Original languageEnglish
Title of host publication10th ICAPS Workshop on Planning and Robotics (PlanRob)
Number of pages10
Publication statusPublished - Jun 2022


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