论文标题
综合任务和运动计划
Integrated Task and Motion Planning
论文作者
论文摘要
计划在包含大量对象的环境中操作的机器人的问题，采取行动以自我转移到世界以及改变对象状态的状态，被称为任务和运动计划（TAMP）。 TAMP问题包含离散任务计划的要素，离散连续的数学编程和连续的运动计划，因此无法直接直接解决这些领域的有效解决。在本文中，我们定义了一类索引问题和调查算法来解决这些问题，以解决解决方案方法的策略来求解连续空间子问题及其在整合搜索的离散和连续组件的技术。
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 state of the objects, is known as task and motion planning (TAMP). TAMP problems contain elements of discrete task planning, discrete-continuous mathematical programming, and continuous motion planning, and thus cannot be effectively addressed by any of these fields directly. In this paper, we define a class of TAMP problems and survey algorithms for solving them, characterizing the solution methods in terms of their strategies for solving the continuous-space subproblems and their techniques for integrating the discrete and continuous components of the search.
