The CONVINCE Perspective on Task and Motion Planning in Dynamic Environments

Masoumeh Mansouri; Charlie Street; Yazz Warsame

doi:10.1007/978-3-031-76428-8_39

The CONVINCE Perspective on Task and Motion Planning in Dynamic Environments

Masoumeh Mansouri^*
, Charlie Street
, Yazz Warsame

^*Corresponding author for this work

Computer Science

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

51 Downloads (Pure)

Abstract

Combined task and motion planning (TAMP) has been extensively studied within robotics. This paper explores TAMP in dynamic environments in the context of the European Union Horizon project CONVINCE (context-aware verifiable and adaptive dynamic deliberation). CONVINCE aims to develop cognitive deliberation capabilities for safe and autonomous robot operation over extended periods. The technical contributions of CONVINCE, including solutions to TAMP, will be validated on three real-world use cases: a robot vacuum cleaner, an assembly robot, and a robotic museum guide. In this paper, we briefly explain our proposed TAMP strategies for these use cases.

Original language	English
Title of host publication	European Robotics Forum 2024
Subtitle of host publication	15th ERF
Editors	Cristian Secchi, Lorenzo Marconi
Publisher	Springer Nature
Pages	206-210
Number of pages	5
Volume	2
Edition	1
ISBN (Electronic)	9783031764288
ISBN (Print)	9783031764271, 9783031764301
DOIs	https://doi.org/10.1007/978-3-031-76428-8_39
Publication status	Published - 1 Jan 2025
Event	European Robotics Forum 2024 - Rimini, Italy Duration: 13 Mar 2024 → 15 Mar 2024 https://erf2024.eu/

Publication series

Name	Springer Proceedings in Advanced Robotics
Publisher	Springer
Volume	33
ISSN (Print)	2511-1256
ISSN (Electronic)	2511-1264

Conference

Conference	European Robotics Forum 2024
Abbreviated title	ERF 2024
Country/Territory	Italy
City	Rimini
Period	13/03/24 → 15/03/24
Internet address	https://erf2024.eu/

Access to Document

10.1007/978-3-031-76428-8_39Licence: None: All rights reserved

MansouriM2024CONVINCE
This version of the article has been accepted for publication, after peer review (when applicable) and is subject to Springer Nature’s AM terms of use, but is not the Version of Record and does not reflect post-acceptance improvements, or any corrections. The Version of Record is available online at: http://dx.doi.org/10.1007/978-3-031-76428-8_39
Accepted author manuscript, 127 KBLicence: Other (please specify with Rights Statement)

CONVINCE - CONtext-aware VerifIable dyNamiC dEliberation
Mansouri, M. (Principal Investigator)
UKRI Horizon Europe Underwriting Innovate UK
1/10/22 → 31/03/26
Project: Research

Cite this

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title = "The CONVINCE Perspective on Task and Motion Planning in Dynamic Environments",

abstract = "Combined task and motion planning (TAMP) has been extensively studied within robotics. This paper explores TAMP in dynamic environments in the context of the European Union Horizon project CONVINCE (context-aware verifiable and adaptive dynamic deliberation). CONVINCE aims to develop cognitive deliberation capabilities for safe and autonomous robot operation over extended periods. The technical contributions of CONVINCE, including solutions to TAMP, will be validated on three real-world use cases: a robot vacuum cleaner, an assembly robot, and a robotic museum guide. In this paper, we briefly explain our proposed TAMP strategies for these use cases.",

author = "Masoumeh Mansouri and Charlie Street and Yazz Warsame",

year = "2025",

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doi = "10.1007/978-3-031-76428-8\_39",

language = "English",

isbn = "9783031764271",

volume = "2",

series = "Springer Proceedings in Advanced Robotics",

publisher = "Springer Nature",

pages = "206--210",

editor = "Cristian Secchi and Lorenzo Marconi",

booktitle = "European Robotics Forum 2024",

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edition = "1",

note = "European Robotics Forum 2024, ERF 2024 ; Conference date: 13-03-2024 Through 15-03-2024",

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Mansouri, M, Street, C & Warsame, Y 2025, The CONVINCE Perspective on Task and Motion Planning in Dynamic Environments. in C Secchi & L Marconi (eds), European Robotics Forum 2024: 15th ERF. 1 edn, vol. 2, Springer Proceedings in Advanced Robotics, vol. 33, Springer Nature, pp. 206-210, European Robotics Forum 2024, Rimini, Italy, 13/03/24. https://doi.org/10.1007/978-3-031-76428-8_39

The CONVINCE Perspective on Task and Motion Planning in Dynamic Environments. / Mansouri, Masoumeh; Street, Charlie; Warsame, Yazz.
European Robotics Forum 2024: 15th ERF. ed. / Cristian Secchi; Lorenzo Marconi. Vol. 2 1. ed. Springer Nature, 2025. p. 206-210 (Springer Proceedings in Advanced Robotics; Vol. 33).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AB - Combined task and motion planning (TAMP) has been extensively studied within robotics. This paper explores TAMP in dynamic environments in the context of the European Union Horizon project CONVINCE (context-aware verifiable and adaptive dynamic deliberation). CONVINCE aims to develop cognitive deliberation capabilities for safe and autonomous robot operation over extended periods. The technical contributions of CONVINCE, including solutions to TAMP, will be validated on three real-world use cases: a robot vacuum cleaner, an assembly robot, and a robotic museum guide. In this paper, we briefly explain our proposed TAMP strategies for these use cases.

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The CONVINCE Perspective on Task and Motion Planning in Dynamic Environments

Abstract

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Projects

CONVINCE - CONtext-aware VerifIable dyNamiC dEliberation

Cite this