Task and Motion Planning Methods: Applications and Limitations

• DOI: 10.5220/0011314000003271
• Publication Date: 2022-07-17T13:47:37Z
• Authors: Kai Zhang; Eric Lucet; Julien Sandretto; Selma Kchir; David Filliat
• Keywords: [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO]; [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO]; simulation environment; Task and motion planning; learning methods

Robots are required to perform more and complicated tasks, which raises the requirement of intelligent planning algorithms.As a domain having been explored for decades, task motion (TAMP) methods have achieved significant results, but several challenges remain be solved.This paper summarizes development TAMP from solving objectives, simulation environments, remaining limitations.In particular, it compares different environments used in tasks aiming provide practical guide overview beginners.