TY - UNPB
T1 - Multi-Robot Vision-Based Task and Motion Planning for EV Battery Disassembly and Sorting
AU - Shaarawy, Abdelaziz
AU - Erdogan, Cansu
AU - Stolkin, Rustam
AU - Rastegarpanah, Alireza
PY - 2025/9/25
Y1 - 2025/9/25
N2 - Electric-vehicle (EV) battery disassembly requires precise multi-robot coordination, short and reliable motions, and robust collision safety in cluttered, dynamic scenes. We propose a four-layer task-and-motion planning (TAMP) framework that couples symbolic task planning and cost- and accessibility-aware allocation with a TP-GMM-guided motion planner learned from demonstrations. Stereo vision with YOLOv8 provides real-time component localization, while OctoMap-based 3D mapping and FCL(Flexible Collision Library) checks in MoveIt unify predictive digital-twin collision checking with reactive, vision-based avoidance...
AB - Electric-vehicle (EV) battery disassembly requires precise multi-robot coordination, short and reliable motions, and robust collision safety in cluttered, dynamic scenes. We propose a four-layer task-and-motion planning (TAMP) framework that couples symbolic task planning and cost- and accessibility-aware allocation with a TP-GMM-guided motion planner learned from demonstrations. Stereo vision with YOLOv8 provides real-time component localization, while OctoMap-based 3D mapping and FCL(Flexible Collision Library) checks in MoveIt unify predictive digital-twin collision checking with reactive, vision-based avoidance...
KW - cs.RO
U2 - 10.48550/arXiv.2509.21020
DO - 10.48550/arXiv.2509.21020
M3 - Preprint
BT - Multi-Robot Vision-Based Task and Motion Planning for EV Battery Disassembly and Sorting
ER -