Extending Task and Motion Planning with Feasibility Prediction: Towards Multi-Robot Manipulation Planning of Realistic Objects
Résumé
The hybrid discrete/continuous nature of task and
motion planning (TAMP) results often in a combinatorial
explosion. This challenge is even more pronounced in multirobot
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 multirobot
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.
Origine | Fichiers produits par l'(les) auteur(s) |
---|