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 …

Autonomous robots are increasingly served in real-world unstructured human environments
with complex long-horizon tasks, such as restaurant serving and office delivery. Task and …

Planning is the branch of Artificial Intelligence (AI) that seeks to automate reasoning about
plans, most importantly the reasoning that goes into formulating a plan to achieve a given …

Many planning applications involve complex relationships defined on high-dimensional,
continuous variables. For example, robotic manipulation requires planning with kinematic …

We present a new algorithm for task and motion planning (TMP) and discuss the
requirements and abstractions necessary to obtain robust solutions for TMP in general. Our …

We present a new constraint-based framework for task and motion planning (TMP). Our
approach is extensible, probabilistically complete, and offers improved performance and …

Mobile manipulation problems involving many objects are challenging to solve due to the
high dimensionality and multi-modality of their hybrid configuration spaces. Planners that …

Liste der Autoren Page 1 Liste der Autoren Clemens Beckstein Gerhard Brewka Christian
Borgelt Wolfram Burgard Hans-Dieter Burkhard Stephan Busemann Thomas Christaller Leonie …

Manipulation problems involving many objects present substantial challenges for motion
planning algorithms due to the high dimensionality and multi-modality of the search space …

We propose a constraint-based approach to address a class of problems encountered in
combined task and motion planning (CTAMP), which we call kinematically constrained …