Conditional Task and Motion Planning through an Effort-based Approach

This paper proposes a Conditional Task and Motion Planning algorithm able to find a plan that minimizes robot efforts while solving assigned tasks. Unlike most of existing approaches that replan a path only when it becomes unfeasible, the proposed algorithm takes into consideration a replanning every time an effort saving is possible. The effort is here considered as the execution time but it is extensible to the energy consumption. The computed plan is both conditional and dynamically adaptable to the unexpected environment changes.Authors prove the completeness and scalability of their proposal.