  Complex manipulation tasks, such as rearrangement planning of numerous
objects, are combinatorially hard problems. Existing algorithms either do not
scale well or assume a great deal of prior knowledge about the environment, and
few offer any rigorous guarantees. In this paper, we propose a novel hybrid
control architecture for achieving such tasks with mobile manipulators. On the
discrete side, we enrich a temporal logic specification with mobile
manipulation primitives such as moving to a point, and grasping or moving an
object. Such specifications are translated to an automaton representation,
which orchestrates the physical grounding of the task to mobility or
manipulation controllers. The grounding from the discrete to the continuous
reactive controller is online and can respond to the discovery of unknown
obstacles or decide to push out of the way movable objects that prohibit task
accomplishment. Despite the problem complexity, we prove that, under specific
conditions, our architecture enjoys provable completeness on the discrete side,
provable termination on the continuous side, and avoids all obstacles in the
environment. Simulations illustrate the efficiency of our architecture that can
handle tasks of increased complexity while also responding to unknown obstacles
or unanticipated adverse configurations.
