Pruning the Augmented Graphs of Convex Sets for Scalable Joint Task and Motion Planning
The method introduces pruning techniques for Augmented Graphs of Convex Sets (AGCS) to make planning problems scalable. It uses temporal logic specifications to create a complex graph structure for tasks like the Traveling Salesman Problem (TSP). By applying heuristics and lower bounds, the researchers significantly reduce the graph size while still finding optimal solutions efficiently.