Anytime Multi-arm Task and Motion Planning for Pick-and-Place of Individual Objects via Handoffs

Rahul Shome, Kostas E. Bekris

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

Automation applications are pushing the deployment of many high DoF manipulators in warehouse and manufacturing environments. This has motivated many efforts on optimizing manipulation tasks involving a single arm. Coordinating multiple arms for manipulation, however, introduces additional computational challenges arising from the increased DoFS, as well as the combinatorial increase in the available operations that many manipulators can perform, including handoffs between arms. The focus here is on pick-and-place tasks, which require a sequence of handoffs to be executed, so as to achieve computational efficiency, asymptotic optimality and practical anytime performance. The paper leverages recent advances in multi-robot motion planning for high DoF systems to propose a novel multi-modal extension of the dRRT∗ algorithm. The key insight is that, instead of naively solving a sequence of motion planning problems, it is computationally advantageous to directly explore the composite space of the integrated multi-arm task and motion planning problem, given input sets of possible pick and handoff configurations. A proof sketch regarding the asymptotic optimality of the method is included in this work given the sampling of additional picks and handoffs over time. The evaluation shows that the approach finds initial solutions fast and improves their quality over time. It also succeeds in finding solutions to harder problem instances relative to alternatives and can scale effectively as the number of robots increases.

Original languageEnglish (US)
Title of host publicationInternational Symposium on Multi-Robot and Multi-Agent Systems, MRS 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages37-43
Number of pages7
ISBN (Electronic)9781728128764
DOIs
StatePublished - Aug 2019
Event2nd International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2019 - New Brunswick, United States
Duration: Aug 22 2019Aug 23 2019

Publication series

NameInternational Symposium on Multi-Robot and Multi-Agent Systems, MRS 2019

Conference

Conference2nd International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2019
Country/TerritoryUnited States
CityNew Brunswick
Period8/22/198/23/19

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Control and Optimization

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