Integrated Task and Motion Planning

The problem of planning for a robot that operates in environments containing large number objects, taking actions to move itself through the world as well change state is known task and motion (TAMP). TAMP problems contain elements discrete planning, discrete–continuous mathematical programming, continuous thus cannot be effectively addressed by any these fields directly. In this article, we define class survey algorithms solving them, characterizing solution methods terms their strategies continuous-space subproblems techniques integrating components search.