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Pruning the Augmented Graphs of Convex Sets for Scalable Joint Task and Motion Planning
We present top-down and bottom-up approaches for solving large-scale instances of joint task and motion planning problems in Graphs of Convex Sets (GCS). Planning what tasks to perform and how to move between them can be encoded exactly as a Shortest Path Problem (SPP) using an Augmented GCS (AGCS),
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