Work

Extending Task and Motion Planning with Feasibility Prediction: Towards Multi-Robot Manipulation Planning of Realistic Objects

Year: 2024

Type: conference-paper

Abstract: 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 propose a feasibility-enabled multi-robot 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.

Source: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

DOI: 10.1109/iros58592.2024.10802307

Authors: Smail Ait Bouhsain, Rachid Alami, Thierry Siméon

Institutions: Centre National de la Recherche Scientifique, Laboratoire d'Analyse et d'Architecture des Systèmes

Language: English

Topic: Robot Manipulation and Learning

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

OpenAlex ID: W4388804104

FWCI:

Cites: 46

Cited by:

Related to: 10