Integrated Task and Motion Planning
Abstract
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.
Document Details
- Document Type
- Pub Defense Publication
- Publication Date
- May 03, 2021
- Source ID
- 10.1146/annurev-control-091420-084139
Entities
People
- Beomjoon Kim
- Caelan Reed Garrett
- Leslie P. Kaelbling
- Rachel Holladay
- Rohan Chitnis
- Tom Silver
- Tomas Lozano-Pérez
Organizations
- Massachusetts Institute of Technology