Combining task and motion planning: challenges and guidelines

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Combining task and motion planning : challenges and guidelines. / Mansouri, Masoumeh; Pecora, Federico; Schüller, Peter .

In: Frontiers in Robotics and AI, Vol. 8, 637888, 19.05.2021.

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@article{678becddcc764fe6acaf9467a57221d8,
title = "Combining task and motion planning: challenges and guidelines",
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.",
keywords = "automated reasoning, industrial applications of robotics, integrative AI, knowledge representation, task and motion planning",
author = "Masoumeh Mansouri and Federico Pecora and Peter Sch{\"u}ller",
note = "Copyright {\textcopyright} 2021 Mansouri, Pecora and Sch{\"u}ller.",
year = "2021",
month = may,
day = "19",
doi = "10.3389/frobt.2021.637888",
language = "English",
volume = "8",
journal = "Frontiers in Robotics and Artificial Intelligence",
issn = "2296-9144",
publisher = "Frontiers",

}

RIS

TY - JOUR

T1 - Combining task and motion planning

T2 - challenges and guidelines

AU - Mansouri, Masoumeh

AU - Pecora, Federico

AU - Schüller, Peter

N1 - Copyright © 2021 Mansouri, Pecora and Schüller.

PY - 2021/5/19

Y1 - 2021/5/19

N2 - 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.

AB - 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.

KW - automated reasoning

KW - industrial applications of robotics

KW - integrative AI

KW - knowledge representation

KW - task and motion planning

UR - http://www.scopus.com/inward/record.url?scp=85107191930&partnerID=8YFLogxK

U2 - 10.3389/frobt.2021.637888

DO - 10.3389/frobt.2021.637888

M3 - Review article

C2 - 34095239

VL - 8

JO - Frontiers in Robotics and Artificial Intelligence

JF - Frontiers in Robotics and Artificial Intelligence

SN - 2296-9144

M1 - 637888

ER -