Hybrid task and motion planning with reactive collision handling for multi-robot disassembly of complex products: application to EV batteries
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 real dual-agent platform that integrates task decomposition and allocation with a learning-based planner. A GMM-informed RRT motion planner is coupled with a hybrid safety layer that combines predictive collision checking in a MoveIt/FCL digital twin with reactive avoidance and replanning. This integration is challenging
Record details
Published: 16 July 2026
Source: Frontiers in Robotics and AI
Category: Research
Topics: Agents & autonomy
Retrieved: 17 July 2026
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ethics.ai (16 July 2026), “Hybrid task and motion planning with reactive collision handling for multi-robot disassembly of complex products: application to EV batteries,” evidence record 11071, https://ethics.ai/record/11071 (originally published by Frontiers in Robotics and AI).
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