Final work proposal

The objective of the final work is to put into practice all the theoretical concepts on motion and task planning studied through the tutorials but using high-DOF robotic systems like:

• Mobile manipulators (Tiago or the TX-90 with mobile base)

• Dual-arm robots (Yumi demos or the Chess example with two UR3 arms).

• Multi-robot systems composed of several 2-DOF robots.

• Other robotic systems involving mechanical hands.

The use of challenging scenarios different from those available is encouraged.

The work has two parts:

• Motion planning: the evaluation of different motion planners using the benchmarking utility in qualitatively different queries.

• Task planning: the setting of a task and motion planning instance through the definition of the PDDL domain and problem files, and the task configuration file.

The deliverable should include a pdf file describing the work done and a video with the execution of the task and motion planning problem.

Repository structure

The kautham_demos repository contains recommendations on how to structure the project folders. followin thes structure is optional but higly recommended.