Combining task and motion planning: challenges and guidelines
Research output: Contribution to journal › Review article › peer-review
Colleges, School and Institutes
- Vienna University of Technology
- Orebro University
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.
Copyright © 2021 Mansouri, Pecora and Schüller.
|Number of pages||12|
|Journal||Frontiers in Robotics and AI|
|Publication status||Published - 19 May 2021|