Integrated Task and Motion Planning
Integrated Task and Motion Planning
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DOI：
10.1146/annurev-control-091420-084139
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发表时间：
2021-01-01
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影响因子：
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通讯作者：
Lozano-Perez, Tomas
中科院分区：
文献类型：
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作者：
Garrett, Caelan Reed;Chitnis, Rohan;Lozano-Perez, Tomas
在包含大量物体的环境中运行的机器人，其自身采取行动在环境中移动以及改变物体状态的规划问题，被称为任务与运动规划（TAMP）。TAMP问题包含离散任务规划、离散 - 连续数学规划以及连续运动规划的要素，因此无法直接由这些领域中的任何一个有效解决。在本文中，我们定义了一类TAMP问题，并综述了解决这些问题的算法，根据解决连续空间子问题的策略以及整合搜索中离散和连续部分的技术来描述解决方法的特征。
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.