This paper describes a framework for multi-robot motion planning problems that
require or utilize interactions between robots. Solutions need to consider
interactions between agents on a motion planning level to determine the
feasibility and cost of each agent's portion of the task. Modeling these
problems with current task and motion planning approaches typically requires
reasoning about the possible interactions and checking many of the possible
robots combinations when searching for a solution.
We present a multi-robot motion planning method called Interaction Templates
(ITs) which offloads certain types of robot interactions from the task planner
to the motion planner. ITs encode iterations between a set of robots and are
tiled and connected to robots' individual roadmaps. The resulting combined
roadmap allows interactions to be considered by the motion planner. We apply
ITs to homogeneous and heterogenous robot teams under both required and
optional cooperation scenarios which previously required a task planning
method. We show improved performance over a current TMP approach.