Authors: James Motes, Read Sandstrom, Hannah Lee, Shawna Thomas, Nancy M. Amato

Venue: IEEE Robotics and Automation Letters (RA-L)
DOI: 10.1109/LRA.2020.2976329
Link to Publication

Abstract:
We present a multi-robot integrated task and motion method capable of handling sequential subtask dependencies within multiply decomposable tasks. We map the multi-robot pathfinding method, Conflict Based Search, to task planning and integrate this with motion planning to create TMP-CBS. TMP-CBS couples task decomposition, allocation, and planning to support cases where the optimal solution depends on robot availability and inter-team conflict avoidance. We show improved planning time for simpler task sets and generate optimal solutions w.r.t. the state space representation for a broader range of problems than prior methods. 

@article{Motes-mtampw-2020, 
 author = {Motes, James and Sandstr{\"o}m, Read and Lee, Hannah and Thomas, Shawna and Amato, Nancy M}, 
 journal = {IEEE Robotics and Automation Letters}, 
 number = {2}, 
 pages = {3338--3345}, 
 publisher = {IEEE}, 
 title = {Multi-Robot Task and Motion Planning With Subtask Dependencies}, 
 volume = {5}, 
 year = {2020} 
}