Combining Assembly Planning and Geometric Task Planning

This chapter deals with the integration of different planners that solve problems from different domains in a common context. In particular, a joint solution for structure assembly planning, symbolic task planning and geometric planning is presented and analyzed in the construction of structures with a team of aerial robots equipped with on-board manipulators in places where the access is difficult. Geometric reasoning is present at different levels in our joint solution in order to reduce the computational complexity derived from the highly dimensional space due to the many degrees of freedom of the robots and the complexity of the tasks and also to produce more robust plans even for strongly intricate problems.