  We present an approach for Task-Motion Planning (TMP) using Iterative
Deepened AND/OR Graph Networks (TMP-IDAN) that uses an AND/OR graph network
based novel abstraction for compactly representing the task-level states and
actions. While retrieving a target object from clutter, the number of object
re-arrangements required to grasp the target is not known ahead of time. To
address this challenge, in contrast to traditional AND/OR graph-based planners,
we grow the AND/OR graph online until the target grasp is feasible and thereby
obtain a network of AND/OR graphs. The AND/OR graph network allows faster
computations than traditional task planners. We validate our approach and
evaluate its capabilities using a Baxter robot and a state-of-the-art robotics
simulator in several challenging non-trivial cluttered table-top scenarios. The
experiments show that our approach is readily scalable to increasing number of
objects and different degrees of clutter.
