A General Task and Motion Planning Framework For Multiple Manipulators
Tianyang Pan,Andrew M. Wells,Rahul Shome,Lydia E. Kavraki,Tianyang Pan,Andrew M. Wells,Rahul Shome,Lydia E. Kavraki
Many manipulation tasks combine high-level discrete planning over actions with low-level motion planning over continuous robot motions. Task and motion planning (TMP) provides a powerful general framework to combine discrete and geometric reasoning, and solvers have been previously proposed for single-robot problems. Multi-robot TMP expands the range of TMP problems that can be solved but poses si...
