Integrating Task and Motion Planning for Autonomous Systems

EasyChair Preprint 12328

Abstract

This paper explores the advancements and challenges in integrating task and motion planning (TMP) to facilitate the autonomy and adaptability of autonomous systems. Traditional approaches to TMP often involve separate processes for high-level task planning and low-level motion planning, leading to inefficiencies and suboptimal solutions. However, recent research focuses on integrating these processes seamlessly, allowing autonomous systems to generate plans that consider both task objectives and motion constraints concurrently. Key advancements include the development of integrated TMP frameworks that leverage symbolic representations to bridge the gap between high-level task specifications and low-level motion primitives. These frameworks enable autonomous systems to synthesize plans that are not only feasible but also optimized concerning task objectives, thus enhancing overall system performance.

Keyphrases: Autonomous, motion, planning

@booklet{EasyChair:12328,
  author    = {Julia Anderson and Robert Smith},
  title     = {Integrating Task and Motion Planning for Autonomous Systems},
  howpublished = {EasyChair Preprint 12328},
  year      = {EasyChair, 2024}}