Efficient Geometric Predicates for Integrated Task and Motion Planning
Integrated robot task and motion planning requires an interface for the symbolic planner to query and sample in the geometric world. This work introduces a new set of bounded geometric predicates for collision and inclusion queries on a single sided approximation of the geometry, generated by the bounding mesh algorithm. Integration leads to an efficient task and motion planner, which is evaluated on different robot systems, including tasks with branched plans, sensing actions, complex assembly actions, and bimanual manipulation.