Integrated Task and Motion Planning

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The problem of planning for a robot that operates in environments containing a large number of objects, taking actions to move itself through the world as well as to change the state of the objects, is known as task and motion planning (TAMP). TAMP problems contain elements of discrete task planning, discrete–continuous mathematical programming, and continuous motion planning and thus cannot be effectively addressed by any of these fields directly. In this article, we define a class of TAMP problems and survey algorithms for solving them, characterizing the solution methods in terms of their strategies for solving the continuous-space subproblems and their techniques for integrating the discrete and continuous components of the search.
Publisher
ANNUAL REVIEWS
Issue Date
2021-05
Language
English
Citation

ANNUAL REVIEW OF CONTROL, ROBOTICS, AND AUTONOMOUS SYSTEMS, v.4, pp.265 - 293

ISSN
2573-5144
DOI
10.1146/annurev-control-091420-084139
URI
http://hdl.handle.net/10203/287028
Appears in Collection
RIMS Journal Papers
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