Combining Task and Motion Planning: Challenges and Guidelines

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...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Veröffentlicht in:Frontiers in robotics and AI 2021-05, Vol.8, p.637888-637888
Hauptverfasser: Mansouri, Masoumeh, Pecora, Federico, Schüller, Peter
Format: Artikel
Sprache:eng
Schlagworte:
Online-Zugang:Volltext
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
Beschreibung
Zusammenfassung: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.
ISSN:2296-9144
2296-9144
DOI:10.3389/frobt.2021.637888