Hybrid Task and Motion Planning with Reactive Collision Handling for Multi-Robot Disassembly of Complex Products: Application to EV Batteries

Abdelaziz Shaarawy, Cansu Erdogan, Rustam Stolkin +1

This paper addresses the problem of multi-robot coordination for complex manipulation task sequences. We present a vision-driven task-and-motion planning (TAMP) framework for a rea…