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Integrated Task and Motion Planning

delete2021-05-03
delete202
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OA
AI
C
Caelan Reed Garrett *
R
Rohan Chitnis
R
Rachel Holladay
B
Beomjoon Kim
T
Tom Silver
L
Leslie Pack Kaelbling
T
Tomás Lozano‐Pérez
DOI：10.1146/annurev-control-091420-084139delete
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Abstract

Abstract

En 中文
The problem of planning for a robot that operates in environments containing a large number of objects, taking actions to move itself through the world as well as to change the state of the objects, is known as task and motion planning (TAMP). TAMP problems contain elements of discrete task planning, discrete-continuous mathematical programming, and continuous motion planning and thus cannot be effectively addressed by any of these fields directly. In this article, we define a class of TAMP problems and survey algorithms for solving them, characterizing the solution methods in terms of their strategies for solving the continuous-space subproblems and their techniques for integrating the discrete and continuous components of the search.
Keywords:
task and motion planning
robotics
automated planning
motion planning
manipulation planning

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