Flexibly configuring task and motion planning problems for mobile manipulators*

Robotic manipulation requires the planning at a symbolic level (task planning) and at a geometric level (motion planning). This paper presents a planning framework for both levels of planning that includes an easy way to configure their interconnection. Motion planning is done using The Kautham Project, which is equipped with the Open Motion Planning Library suite of sampling-based motion planners, and task planning is done using the Fast Forward task planner. Both planning levels can be accessed through Robotic Operating System interfaces using services. A client program then uses these task and motion planning services and an XML configuration file that defines the linkage between symbolic actions and geometric values, to compute the sequence of feasible robot motions that allow to successfully execute a manipulation task. An illustrative example using the TIAGo mobile manipulator in a kitchen environment is presented where the flexibility in configuring different instances of manipulation tasks is shown.