Combining task and motion planning: challenges and guidelines

Research output: Contribution to journalReview articlepeer-review

Authors

Colleges, School and Institutes

External organisations

  • Vienna University of Technology
  • Orebro University

Abstract

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.

Bibliographic note

Copyright © 2021 Mansouri, Pecora and Schüller.

Details

Original languageEnglish
Article number637888
Number of pages12
JournalFrontiers in Robotics and AI
Volume8
Publication statusPublished - 19 May 2021

Keywords

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