Task Allocation for Multi-Robot Task and Motion Planning: a case for Object Picking in Cluttered Workspaces

no code implementations • 8 Oct 2021 • Hossein Karami, Antony Thomas, Fulvio Mastrogiovanni

We present an AND/OR graph-based, integrated multi-robot task and motion planning approach which (i) performs task allocation coordinating the activity of a given number of robots, and (ii) is capable of handling tasks which involve an a priori unknown number of object re-arrangements, such as those involved in retrieving objects from cluttered workspaces.

Motion Planning Object +1

A Task-Motion Planning Framework Using Iteratively Deepened AND/OR Graph Networks

no code implementations • 4 Apr 2021 • Hossein Karami, Antony Thomas, Fulvio Mastrogiovanni

While retrieving a target object from clutter, the number of object re-arrangements required to grasp the target is not known ahead of time.

Motion Planning