A Meta-Engine Framework for Interleaved Task and Motion Planning using Topological Refinements

• URL: http://arxiv.org/abs/2408.05795v1
• Date: Sun, 11 Aug 2024 14:57:57 GMT
• Title: A Meta-Engine Framework for Interleaved Task and Motion Planning using Topological Refinements
• Authors: Elisa Tosello, Alessandro Valentini, Andrea Micheli,
• Abstract summary: Task And Motion Planning (TAMP) is the problem of finding a solution to an automated planning problem. We propose a general and open-source framework for modeling and benchmarking TAMP problems. We introduce an innovative meta-technique to solve TAMP problems involving moving agents and multiple task-state-dependent obstacles.
• Score: 51.54559117314768
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: Task And Motion Planning (TAMP) is the problem of finding a solution to an automated planning problem that includes discrete actions executable by low-level continuous motions. This field is gaining increasing interest within the robotics community, as it significantly enhances robot's autonomy in real-world applications. Many solutions and formulations exist, but no clear standard representation has emerged. In this paper, we propose a general and open-source framework for modeling and benchmarking TAMP problems. Moreover, we introduce an innovative meta-technique to solve TAMP problems involving moving agents and multiple task-state-dependent obstacles. This approach enables using any off-the-shelf task planner and motion planner while leveraging a geometric analysis of the motion planner's search space to prune the task planner's exploration, enhancing its efficiency. We also show how to specialize this meta-engine for the case of an incremental SMT-based planner. We demonstrate the effectiveness of our approach across benchmark problems of increasing complexity, where robots must navigate environments with movable obstacles. Finally, we integrate state-of-the-art TAMP algorithms into our framework and compare their performance with our achievements.

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