Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Fast MILP-based Task and Motion Planning for Pick-and-Place with
  Hard/Soft Constraints of Collision-Free Route   We present new models of optimization-based task and motion planning (TAMP)
for robotic pick-and-place (P&P), which plan action sequences and motion
trajectory with low computational costs. We improved an existing
state-of-the-art TAMP model integrated with the collision avoidance, which is
formulated as a mixed-integer linear programing (MILP) problem. To enable the
MILP solver to search for solutions efficiently, we introduced two approaches
leveraging features of collision avoidance in robotic P&P. The first approach
reduces number of binary variables, which are related to the collision
avoidance of delivery objects, by reformulating them as continuous variables
with additional hard constraints. These hard constraints maintain consistency
by conditionally propagating binary values, which are related to the carry
action state and collision avoidance of robots, to the reformulated continuous
variables. The second approach is more aware of the branch-and-bound method,
which is the fundamental algorithm of modern MILP solvers. This approach guides
the MILP solver to find integer solutions with shallower branching by adding a
soft constraint, which softly restricts a robot's routes around delivery
objects. We demonstrate the effectiveness of the proposed approaches with a
modern MILP solver.

5
The categories of this paper are: gr-qc
30
The categories of this paper are: q-alg
21
The categories of this paper are: adap-org
35
The categories of this paper are: mtrl-th
29
The categories of this paper are: funct-an
24
The categories of this paper are: dg-ga
16
The categories of this paper are: stat
25
The categories of this paper are: patt-sol
7
The categories of this paper are: hep-th
27
The categories of this paper are: comp-gas
33
The categories of this paper are: plasm-ph
11
The categories of this paper are: hep-lat
34
The categories of this paper are: chem-ph
15
The categories of this paper are: nucl-ex
10
The categories of this paper are: q-bio
2
The categories of this paper are: math