Task and Motion Planning Methods: Applications and Limitations

Kai Zhang, Kai Zhang, Eric Lucet, Julien Sandretto, Selma Kchir, David Filliat, David Filliat

2022

Abstract

Robots are required to perform more and more complicated tasks, which raises the requirement of more intelligent planning algorithms. As a domain having been explored for decades, task and motion planning (TAMP) methods have achieved significant results, but several challenges remain to be solved. This paper summarizes the development of TAMP from solving objectives, simulation environments, methods and remaining limitations. In particular, it compares different simulation environments and methods used in different tasks aiming to provide a practical guide and overview for the beginners.

Paper Citation

in Harvard Style

Zhang K., Lucet E., Sandretto J., Kchir S. and Filliat D. (2022). Task and Motion Planning Methods: Applications and Limitations. In Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-585-2, pages 476-483. DOI: 10.5220/0011314000003271

in Bibtex Style

@conference{icinco22,
author={Kai Zhang and Eric Lucet and Julien Sandretto and Selma Kchir and David Filliat},
title={Task and Motion Planning Methods: Applications and Limitations},
booktitle={Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2022},
pages={476-483},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0011314000003271},
isbn={978-989-758-585-2},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Task and Motion Planning Methods: Applications and Limitations
SN - 978-989-758-585-2
AU - Zhang K.
AU - Lucet E.
AU - Sandretto J.
AU - Kchir S.
AU - Filliat D.
PY - 2022
SP - 476
EP - 483
DO - 10.5220/0011314000003271