Optimization-based or AI Task Planning for Scenarios with Cooperating Mobile Manipulators?

Stefan-Octavian Bezrucav, Yifan Liu, Burkhard Corves

2021

Abstract

Task planning has become one of the most important components of the control system for teams of cooperating robotic systems in complex scenarios. It plays such a critical role, as it must determine, order and assign a high variety of different tasks to the involved actors, such that at the end, the goals are reached while some metric, as the total execution time, is minimized. In this paper the analysis of three task planning approaches, mixed-integer linear programming (MILP), constraint programming (CP) and automated temporal planning (TP), with respect to three criteria is targeted. These criteria are the CPU time for plan generation, the plan makespan and the flexibility of the modelling approach. For the analysis, an intricate scenario in a kitchen environment with a team of multiple mobile manipulators is developed. The models and results are then compared to derive the advantages and disadvantages of each strategy.

Paper Citation

in Harvard Style

Bezrucav S., Liu Y. and Corves B. (2021). Optimization-based or AI Task Planning for Scenarios with Cooperating Mobile Manipulators?. In Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-522-7, pages 115-122. DOI: 10.5220/0010509001150122

in Bibtex Style

@conference{icinco21,
author={Stefan-Octavian Bezrucav and Yifan Liu and Burkhard Corves},
title={Optimization-based or AI Task Planning for Scenarios with Cooperating Mobile Manipulators?},
booktitle={Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2021},
pages={115-122},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010509001150122},
isbn={978-989-758-522-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Optimization-based or AI Task Planning for Scenarios with Cooperating Mobile Manipulators?
SN - 978-989-758-522-7
AU - Bezrucav S.
AU - Liu Y.
AU - Corves B.
PY - 2021
SP - 115
EP - 122
DO - 10.5220/0010509001150122