Integrated Task and Motion Planning for Multi-Robot Manipulation in Industry and Service Automation
Bibliographic record
Abstract
This paper introduces a fully integrated task and motion planning framework for robotic manipulation in dynamic and uncertain environments, particularly in multi-arm manipulator systems where reachability constraints change over time. Existing approaches, including probabilistic road maps and traditional task-and-motion planning (TAMP) frameworks, struggle with high-dimensionality, infeasible actions, and limited adaptability. To address these challenges, we propose a novel planning system that seamlessly integrates high-level symbolic task planning with low-level motion execution via a Dynamic Shared-Space Graph (D-SSG) and a Planning Domain Definition Language (PDDL)-based interface layer. The key contribution of this work is a real-time re-planning mechanism that dynamically adjusts to task failures, geometric constraints, and environmental variations, ensuring robust execution. Extensive simulations in ROS and Gazebo demonstrate a measurable reduction in planning time and a significant increase in task success rates under cluttered and uncertain conditions. These results establish the proposed framework as a promising solution for advancing multi-robot coordination in industrial and service automation applications.
Fetched live from OpenAlex and de-inverted. Abstracts are not stored in this database: the inverted indexes are 8.6 GB of the frame’s 9.3 GB of text, and the host has 13 GB free.
How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".