Tootfinder

Multi-Robot Vision-Based Task and Motion Planning for EV Battery Disassembly and Sorting
Abdelaziz Shaarawy, Cansu Erdogan, Rustam Stolkin, Alireza Rastegarpanah
https://arxiv.org/abs/2509.21020

Multi-Robot Vision-Based Task and Motion Planning for EV Battery Disassembly and Sorting
Electric-vehicle (EV) battery disassembly requires precise multi-robot coordination, short and reliable motions, and robust collision safety in cluttered, dynamic scenes. We propose a four-layer task-and-motion planning (TAMP) framework that couples symbolic task planning and cost- and accessibility-aware allocation with a TP-GMM-guided motion planner learned from demonstrations. Stereo vision with YOLOv8 provides real-time component localization, while OctoMap-based 3D mapping and FCL(Flexible…