Combined Task and Motion Planning as Classical AI Planning
arXiv: Robotics, Volume abs/1706.06927, 2017.
Planning in robotics is often split into task and motion planning. The high-level, symbolic task planner decides what needs to be done, while the motion planner checks feasibility and fills up geometric detail. It is known however that such a decomposition is not effective in general as the symbolic and geometrical components are not inde...More
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