Hybrid Task and Motion Planning with Reactive Collision Handling for Multi-Robot Disassembly of Complex Products: Application to EV Batteries
This paper addresses the problem of multi-robot coordination for complex manipulation task sequences. We present a vision-driven task-and-motion planning (TAMP) framework for a real dual-agent platform that integrates task decomposition and allocation with a learning-based RRT planner. A GMM-informed motion planner is coupled with a hybrid safety layer that combines predictive collision checking in a MoveIt/FCL digital twin with reactive vision-based avoidance and replanning. This integration is challenging as the system jointly satisfies task precedence, geometric feasibility, dynamic obstacle avoidance, and dual-arm coordination constraints. The framework operates in closed loop by updating the remaining task sequence from repeated scene scans and completion-state tracking rather than executing a fixed open-loop plan. In EV battery disassembly experiments, compared with Default-RRTConnect under identical perception and task assignments, the proposed system reduces cumulative end-effector path length from 48.8 to 17.9~m ($-63.3\%$), improves makespan from 467.9 to 429.8~s ($-8.1\%$), and reduces swept volumes (R1: $0.583\rightarrow0.139\,\mathrm{m}^3$, R2: $0.696\rightarrow0.252\,\mathrm{m}^3$) and overlap ($0.064\rightarrow0.034\,\mathrm{m}^3$). These results show that combining predictive planning and reactive collision avoidance in a real dual-arm disassembly scenario improves motion compactness, safety, and scalability to broader multi-robot sequential manipulation tasks.