An Integrated Task and Motion Planning Technique for Multi-Robot-Systems

In this paper, we propose an integrated motion and task planning methodology for multiple robot arm systems with high DOF applications performing different tasks simultaneously in a shared workspace. In the proposed methodology, we introduce a high-level task planning layer and a low level motion planning layer. We develop an algorithm to integrate these two layers in order to achieve reliable and collision free tasks execution. At the low level motion planning layer, we extend heuristics based path planning algorithms for systems of multiple high DOF robotic arms. We introduce concept of shared space graph (SSG) to check whether two arms sharing certain parts of the workspace and quantify cooperation of such arm pairs, which is essential to the selection of arm sequences and scheduling of each arm in the sequence to perform a task or a sub-task.