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

Junho Lee; Derek Long

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

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference paper › peer-review

Abstract

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 language	English
Title of host publication	10th ICAPS Workshop on Planning and Robotics (PlanRob)
Number of pages	10
Publication status	Published - Jun 2022

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Cite this

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title = "Conflict-Based Multi-Robot Multi-Goal Task and Motion Planning",

abstract = "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.",

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AU - Lee, Junho

AU - Long, Derek

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AB - 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.

M3 - Conference paper

BT - 10th ICAPS Workshop on Planning and Robotics (PlanRob)

ER -

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

Abstract

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