Combined task and motion planning through an extensible planner-independent interface layer
The need for combined task and motion planning in robotics is well understood. Solutions to
this problem have typically relied on special purpose, integrated implementations of task …
this problem have typically relied on special purpose, integrated implementations of task …
Pddlstream: Integrating symbolic planners and blackbox samplers via optimistic adaptive planning
Many planning applications involve complex relationships defined on high-dimensional,
continuous variables. For example, robotic manipulation requires planning with kinematic …
continuous variables. For example, robotic manipulation requires planning with kinematic …
[HTML][HTML] Geometric backtracking for combined task and motion planning in robotic systems
Planners for real robotic systems should not only reason about abstract actions, but also
about aspects related to physical execution such as kinematics and geometry. We present …
about aspects related to physical execution such as kinematics and geometry. We present …
Multi-robot task and motion planning with subtask dependencies
We present a multi-robot integrated task and motion method capable of handling sequential
subtask dependencies within multiply decomposable tasks. We map the multi-robot …
subtask dependencies within multiply decomposable tasks. We map the multi-robot …
Anytime integrated task and motion policies for stochastic environments
In order to solve complex, long-horizon tasks, intelligent robots need to carry out high-level,
abstract planning and reasoning in conjunction with motion planning. However, abstract …
abstract planning and reasoning in conjunction with motion planning. However, abstract …
On using action inheritance and modularity in PDDL domain modelling
A Lindsay - Proceedings of the International Conference on …, 2023 - ojs.aaai.org
The PDDL modelling problem is known to be challenging, time consuming and error prone.
This has led researchers to investigate methods of supporting the modelling process. One …
This has led researchers to investigate methods of supporting the modelling process. One …
[PDF][PDF] Using classical planners for tasks with continuous operators in robotics
The need for high-level task planning in robotics is well understood. However, interfacing
discrete planning with continuous actions often requires extensive engineering of the …
discrete planning with continuous actions often requires extensive engineering of the …
Hybrid conditional planning for robotic applications
Robots who have partial observability of and incomplete knowledge about their
environments may have to consider contingencies while planning, and thus necessitate …
environments may have to consider contingencies while planning, and thus necessitate …
Finding optimal feasible global plans for multiple teams of heterogeneous robots using hybrid reasoning: an application to cognitive factories
We consider cognitive factories with multiple teams of heterogenous robots, and address
two key challenges of these domains, hybrid reasoning for each team and finding an optimal …
two key challenges of these domains, hybrid reasoning for each team and finding an optimal …
A systematic analysis of levels of integration between high-level task planning and low-level feasibility checks
We provide a systematic analysis of levels of integration between discrete high-level
reasoning and continuous low-level feasibility checks to address hybrid planning problems …
reasoning and continuous low-level feasibility checks to address hybrid planning problems …