A General Task and Motion Planning Framework For Multiple Manipulators

We present a general TMP framework designed for multiple robotic manipulators. This is based on two contributions. First, we propose an optimal task planner designed to support simultaneous discrete actions. Second, we introduce an intermediate scheduler layer between task planner and motion planner to evaluate alternate robot assignments to these actions. This aggressively explores the search space and typically reduces the number of expensive task planning calls.

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