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Complex manipulation tasks, such as rearrangement planning of numerousobjects, are combinatorially hard problems. Existing algorithms either do notscale well or assume a great deal of prior knowledge about the environment, andfew offer any rigorous guarantees. In this paper, we propose a novel hybridcontrol architecture for achieving such tasks with mobile manipulators. On thediscrete side, we enrich a temporal logic specification with mobilemanipulation primitives such as moving to a point, and grasping or moving anobject. Such specifications are translated to an automaton representation,which orchestrates the physical grounding of the task to mobility ormanipulation controllers. The grounding from the discrete to the continuousreactive controller is online and can respond to the discovery of unknownobstacles or decide to push out of the way movable objects that prohibit taskaccomplishment. Despite the problem complexity, we prove that, under specificconditions, our architecture enjoys provable completeness on the discrete side,provable termination on the continuous side, and avoids all obstacles in theenvironment. Simulations illustrate the efficiency of our architecture that canhandle tasks of increased complexity while also responding to unknown obstaclesor unanticipated adverse configurations.

Technical Report: Reactive Planning for Mobile Manipulation Tasks in Unexplored Semantic Environments