Integrated real-time task and motion planning for multiple robots under path and communication uncertainties
Sign Up to like & getrecommendations! Published in 2017 at "Robotica"
DOI: 10.1017/s0263574717000443
Abstract: SUMMARY We consider a problem where robots are given a set of task locations to visit with coarsely known distances. The robots must find the task ordering that reduces the overall distance to visit the… read more here.
Keywords: time task; task; real time; task motion ... See more keywords
Platform-Independent Benchmarks for Task and Motion Planning
Sign Up to like & getrecommendations! Published in 2018 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2018.2856701
Abstract: We present the first platform-independent evaluation method for task and motion planning (TAMP). Previously point, various problems have been used to test individual planners for specific aspects of TAMP. However, no common set of metrics,… read more here.
Keywords: planning; task motion; independent benchmarks; platform independent ... See more keywords
Learning Feasibility for Task and Motion Planning in Tabletop Environments
Sign Up to like & getrecommendations! Published in 2019 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2019.2894861
Abstract: Task and motion planning (TMP) combines discrete search and continuous motion planning. Earlier work has shown that to efficiently find a task–motion plan, the discrete search can leverage information about the continuous geometry. However, incorporating… read more here.
Keywords: learning feasibility; feasibility task; motion; motion planning ... See more keywords
Learning to Ground Objects for Robot Task and Motion Planning
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3157566
Abstract: Task and motion planning (TAMP) algorithms have been developed to help robots plan behaviors in discrete and continuous spaces. Robots face complex real-world scenarios, where it is hardly possible to model all objects or their… read more here.
Keywords: task motion; ground objects; motion planning; motion ... See more keywords
Task and Motion Informed Trees (TMIT*): Almost-Surely Asymptotically Optimal Integrated Task and Motion Planning
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3199676
Abstract: High-level autonomy requires discrete and continuous reasoning to decide both what actions to take and how to execute them. Integrated Task and Motion Planning (TMP) algorithms solve these hybrid problems jointly to consider constraints between… read more here.
Keywords: integrated task; task motion; motion; optimal integrated ... See more keywords
Optimal task and motion planning and execution for human-robot multi-agent systems in dynamic environments
Sign Up to like & getrecommendations! Published in 2023 at "IEEE transactions on cybernetics"
DOI: 10.1109/tcyb.2023.3263380
Abstract: Combining symbolic and geometric reasoning in multiagent systems is a challenging task that involves planning, scheduling, and synchronization problems. Existing works overlooked the variability of task duration and geometric feasibility intrinsic to these systems because… read more here.
Keywords: task motion; task; execution; motion planning ... See more keywords
Contingent Task and Motion Planning under Uncertainty for Human–Robot Interactions
Sign Up to like & getrecommendations! Published in 2020 at "Applied Sciences"
DOI: 10.3390/app10051665
Abstract: Manipulation planning under incomplete information is a highly challenging task for mobile manipulators. Uncertainty can be resolved by robot perception modules or using human knowledge in the execution process. Human operators can also collaborate with… read more here.
Keywords: task; uncertainty; uncertainty human; task motion ... See more keywords