Multiple mobile robot task and motion planning: A survey
With recent advances in mobile robotics, autonomous systems, and artificial intelligence,
there is a growing expectation that robots are able to solve complex problems. Many of …
there is a growing expectation that robots are able to solve complex problems. Many of …
MPTP: Motion-planning-aware task planning for navigation in belief space
We present an integrated Task-Motion Planning (TMP) framework for navigation in large-
scale environments. Of late, TMP for manipulation has attracted significant interest resulting …
scale environments. Of late, TMP for manipulation has attracted significant interest resulting …
Task allocation for multi-robot task and motion planning: a case for object picking in cluttered workspaces
H Karami, A Thomas, F Mastrogiovanni - International Conference of the …, 2021 - Springer
We present an AND/OR graph-based, integrated multi-robot task and motion planning
approach which (i) performs task allocation coordinating the activity of a given number of …
approach which (i) performs task allocation coordinating the activity of a given number of …
Manipulation of articulated objects using dual-arm robots via answer set programming
The manipulation of articulated objects is of primary importance in Robotics and can be
considered as one of the most complex manipulation tasks. Traditionally, this problem has …
considered as one of the most complex manipulation tasks. Traditionally, this problem has …
Safe motion planning with environment uncertainty
We present an approach for safe motion planning under robot state and environment
(obstacle and landmark location) uncertainties. To this end, we first develop an approach …
(obstacle and landmark location) uncertainties. To this end, we first develop an approach …
An integrated localization, motion planning and obstacle avoidance algorithm in belief space
As robots are being increasingly used in close proximity to humans and objects, it is
imperative that robots operate safely and efficiently under real-world conditions. Yet, the …
imperative that robots operate safely and efficiently under real-world conditions. Yet, the …
Towards multi-robot task-motion planning for navigation in belief space
Autonomous robots operating in large knowledgeintensive domains require planning in the
discrete (task) space and the continuous (motion) space. In knowledge-intensive domains …
discrete (task) space and the continuous (motion) space. In knowledge-intensive domains …
Exact and bounded collision probability for motion planning under Gaussian uncertainty
A Thomas, F Mastrogiovanni… - IEEE Robotics and …, 2021 - ieeexplore.ieee.org
Computing collision-free trajectories is of prime importance for safe navigation. We present
an approach for computing the collision probability under Gaussian distributed motion and …
an approach for computing the collision probability under Gaussian distributed motion and …
Conflict-Based Task and Motion Planning for Multi-Robot, Multi-Goal Problems
Task and Motion Planning (TAMP) is the problem of planning goal-directed behaviour for
robotic systems in which the physical movement of the robots constrains the ways that …
robotic systems in which the physical movement of the robots constrains the ways that …
A task-motion planning framework using iteratively deepened and/or graph networks
H Karami, A Thomas, F Mastrogiovanni - arXiv preprint arXiv:2104.01549, 2021 - arxiv.org
We present an approach for Task-Motion Planning (TMP) using Iterative Deepened AND/OR
Graph Networks (TMP-IDAN) that uses an AND/OR graph network based novel abstraction …
Graph Networks (TMP-IDAN) that uses an AND/OR graph network based novel abstraction …