Mehran Raisi Hatmabadi, Gaoyuan Liu, Mohayad Omer, Hamed Firouzipouyaei, Ann Nowe, Bram Vanderborght
Heterogeneous dual-manipulator systems combine robots with non-interchangeable capabilities (e.g., a fingered grip per and a suction cup) to enable cooperative manipulation such as handovers and staged insertions (Fig. 1). Compared to homogeneous teams, planning is affected by two prop erties: (i) actions are bound to specific robots due to capa bility constraints, and (ii) cooperation induces synchroniza tion requirements, as some actions are only feasible when robots are simultaneously available. Consequently, alloca tion, precedence, and coordination constraints are embed ded in the task structure and must be represented explicitly. In this work, we focus on the modeling layer and argue that PDDLStream [1] provides a symbolic–geometric backbone for capturing these constraints while preserving geometric executability.
Raisi Hatmabadi, M, Liu, G, Omer, M, Firouzipouyaei, H, Nowe, A & Vanderborght, B 2026, Symbolic–Geometric Task and Motion Planning for Heterogeneous Dual-Manipulator Systems. in Benelux Meeting on Systems and Control 2026. pp. 173-173, Benelux Meeting on Systems and Control 2026, Lommel, Belgium, 24/03/26. <https://beneluxmeeting.be/2026/uploads/boa2026.pdf>
Raisi Hatmabadi, M., Liu, G., Omer, M., Firouzipouyaei, H., Nowe, A., & Vanderborght, B. (2026). Symbolic–Geometric Task and Motion Planning for Heterogeneous Dual-Manipulator Systems. In Benelux Meeting on Systems and Control 2026 (pp. 173-173) https://beneluxmeeting.be/2026/uploads/boa2026.pdf
@inproceedings{35e51208803d4b0186cb0040616337a3,
title = "Symbolic–Geometric Task and Motion Planning for Heterogeneous Dual-Manipulator Systems",
abstract = "Heterogeneous dual-manipulator systems combine robots with non-interchangeable capabilities (e.g., a fingered grip per and a suction cup) to enable cooperative manipulation such as handovers and staged insertions (Fig. 1). Compared to homogeneous teams, planning is affected by two prop erties: (i) actions are bound to specific robots due to capa bility constraints, and (ii) cooperation induces synchroniza tion requirements, as some actions are only feasible when robots are simultaneously available. Consequently, alloca tion, precedence, and coordination constraints are embed ded in the task structure and must be represented explicitly. In this work, we focus on the modeling layer and argue that PDDLStream [1] provides a symbolic–geometric backbone for capturing these constraints while preserving geometric executability.",
keywords = "Task and Motion Planning, multi agent system, Heterogeneity",
author = "\{Raisi Hatmabadi\}, Mehran and Gaoyuan Liu and Mohayad Omer and Hamed Firouzipouyaei and Ann Nowe and Bram Vanderborght",
year = "2026",
month = mar,
day = "25",
language = "English",
pages = "173--173",
booktitle = "Benelux Meeting on Systems and Control 2026",
note = "Benelux Meeting on Systems and Control 2026, Benelux Meeting ; Conference date: 24-03-2026 Through 26-03-2026",
url = "https://www.beneluxmeeting.nl/2026/",
}