In this work, a novel method for planar task and motion planning based on hybrid modeling is proposed. By virtue of a discrete variable which models local constraint satisfaction and enables local feasibility analysis, the proposed control architecture unifies planning with control design. Concurrently, control barrier functions are designed on a transformed disk version of the original nonconvex and geometrically complex robotic workspace, thus amending the issue of deadlocks. Simulations of the proposed method indicate effective handling of multiple overlapping spatio-temporal tasks even in the face of input saturation.

翻译：本文提出了一种基于混合建模的平面任务与运动规划新方法。通过引入一个离散变量来建模局部约束满足性并实现局部可行性分析，所提出的控制架构将规划与控制设计相统一。同时，在原始非凸且几何复杂的机器人工作空间的变换圆盘版本上设计了控制屏障函数，从而修正了死锁问题。对所提方法的仿真表明，即使在输入饱和的情况下，也能有效处理多个重叠的时空任务。