A general technique for fast comprehensive multi-root planning on graphs by coloring vertices and deferring edges

Abstract

Abstract-We formulate and study the comprehensive multi-root (CMR) planning problem, in which feasible paths are desired between multiple regions. We propose two primary contributions which allow us to extend stateof-the-art sampling-based planners. First, we propose the notion of vertex coloring as a compact representation of the CMR objective on graphs. Second, we propose a method for deferring edge evaluations which do not advance our objective, by way of a simple criterion over these vertex colorings. The resulting approach can be applied to any CMR-agnostic graph-based planner which evaluates a sequence of edges. We prove that the theoretical performance of the colored algorithm is always strictly better than (or equal to) that of the corresponding uncolored version. We then apply the approach to the Probabalistic RoadMap (PRM) algorithm; the resulting Colored Probabalistic RoadMap (cPRM) is illustrated on 2D and 7D CMR problems.

Multi-robot grasp planning for sequential assembly operations

“…Our problem can also be thought as an instance of combined task and motion planning (TAMP) (Cambon et al 2009;Bhatia et al 2010;Kaelbling and Lozano-Pérez 2011;Kaelbling and Lozano-Pérez 2013;Srivastava et al 2014;Dellin and Srinivasa 2015). From this point of view, a planner can be developed that takes as input only the final assembly.…”