Combining task and motion planning: challenges and guidelines

Masoumeh Mansouri, Federico Pecora, Peter Schüller

Research output: Contribution to journalReview articlepeer-review

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Combined Task and Motion Planning (TAMP) is an area where no one-fits-all solution can exist. Many aspects of the domain, as well as operational requirements, have an effect on how algorithms and representations are designed. Frequently, trade-offs have to be made to build a system that is effective. We propose five research questions that we believe need to be answered to solve real-world problems that involve combined TAMP. We show which decisions and trade-offs should be made with respect to these research questions, and illustrate these on examples of existing application domains. By doing so, this article aims to provide a guideline for designing combined TAMP solutions that are adequate and effective in the target scenario.
Original languageEnglish
Article number637888
Number of pages12
JournalFrontiers in Robotics and AI
Publication statusPublished - 19 May 2021


  • automated reasoning
  • industrial applications of robotics
  • integrative AI
  • knowledge representation
  • task and motion planning

ASJC Scopus subject areas

  • Computer Science Applications
  • Artificial Intelligence


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