A rapidly-exploring random trees approach to combined task and motion planning

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Published in:	Robotics and autonomous systems Vol. 157; p. 104238
Main Authors:	Caccavale, Riccardo, Finzi, Alberto
Format:	Journal Article
Language:	English
Published:	01-11-2022
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ArticleNumber	104238
Author	Caccavale, Riccardo Finzi, Alberto
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References	Caccavale (10.1016/j.robot.2022.104238_b19) 2021 Erdem (10.1016/j.robot.2022.104238_b3) 2011 Dantam (10.1016/j.robot.2022.104238_b2) 2016 Chen (10.1016/j.robot.2022.104238_b27) 2018; 23 Srivastava (10.1016/j.robot.2022.104238_b13) 2014 10.1016/j.robot.2022.104238_b18 Cambon (10.1016/j.robot.2022.104238_b6) 2009; 28 Lavalle (10.1016/j.robot.2022.104238_b23) 2000 Gammell (10.1016/j.robot.2022.104238_b25) 2014 10.1016/j.robot.2022.104238_b10 10.1016/j.robot.2022.104238_b11 10.1016/j.robot.2022.104238_b12 Klemm (10.1016/j.robot.2022.104238_b26) 2015 10.1016/j.robot.2022.104238_b14 10.1016/j.robot.2022.104238_b15 10.1016/j.robot.2022.104238_b16 Fikes (10.1016/j.robot.2022.104238_b17) 1972; 2 10.1016/j.robot.2022.104238_b20 Lagriffoul (10.1016/j.robot.2022.104238_b4) 2014; 33 Solovey (10.1016/j.robot.2022.104238_b21) 2016; 35 Bidot (10.1016/j.robot.2022.104238_b9) 2017; 247 Ingrand (10.1016/j.robot.2022.104238_b1) 2017; 247 10.1016/j.robot.2022.104238_b8 Karaman (10.1016/j.robot.2022.104238_b24) 2011; 30 10.1016/j.robot.2022.104238_b7 10.1016/j.robot.2022.104238_b5 Dornhege (10.1016/j.robot.2022.104238_b22) 2009
References_xml	– start-page: 1670 year: 2015 ident: 10.1016/j.robot.2022.104238_b26 article-title: RRT-connect: Faster, asymptotically optimal motion planning contributor: fullname: Klemm – volume: 33 start-page: 1726 issue: 14 year: 2014 ident: 10.1016/j.robot.2022.104238_b4 article-title: Efficiently combining task and motion planning using geometric constraints publication-title: Int. J. Robot. Res. doi: 10.1177/0278364914545811 contributor: fullname: Lagriffoul – ident: 10.1016/j.robot.2022.104238_b15 doi: 10.1109/IROS.2004.1389681 – volume: 23 start-page: 2568 issue: 6 year: 2018 ident: 10.1016/j.robot.2022.104238_b27 article-title: A fast and efficient double-tree RRT-like sampling-based planner applying on mobile robotic systems publication-title: IEEE/ASME Trans. Mechatronics doi: 10.1109/TMECH.2018.2821767 contributor: fullname: Chen – ident: 10.1016/j.robot.2022.104238_b10 – volume: 2 start-page: 189 issue: 3 year: 1972 ident: 10.1016/j.robot.2022.104238_b17 article-title: STRIPS: a new approach to the application of theorem proving to problem solving publication-title: Artificial Intelligence contributor: fullname: Fikes – ident: 10.1016/j.robot.2022.104238_b20 doi: 10.1109/MRS.2019.8901083 – volume: 35 start-page: 501 issue: 5 year: 2016 ident: 10.1016/j.robot.2022.104238_b21 article-title: Finding a needle in an exponential haystack: Discrete RRT for exploration of implicit roadmaps in multi-robot motion planning publication-title: I. J. Robot. Res. doi: 10.1177/0278364915615688 contributor: fullname: Solovey – start-page: 2997 year: 2014 ident: 10.1016/j.robot.2022.104238_b25 article-title: Informed RRT: Optimal sampling-based path planning focused via direct sampling of an admissible ellipsoidal heuristic contributor: fullname: Gammell – volume: 247 start-page: 10 year: 2017 ident: 10.1016/j.robot.2022.104238_b1 article-title: Deliberation for autonomous robots: A survey publication-title: Artif. Intell. doi: 10.1016/j.artint.2014.11.003 contributor: fullname: Ingrand – ident: 10.1016/j.robot.2022.104238_b12 doi: 10.1109/IROS.2013.6696358 – year: 2016 ident: 10.1016/j.robot.2022.104238_b2 article-title: Incremental task and motion planning: A constraint-based approach contributor: fullname: Dantam – volume: 247 start-page: 229 year: 2017 ident: 10.1016/j.robot.2022.104238_b9 article-title: Geometric backtracking for combined task and motion planning in robotic systems publication-title: Artificial Intelligence doi: 10.1016/j.artint.2015.03.005 contributor: fullname: Bidot – ident: 10.1016/j.robot.2022.104238_b14 doi: 10.1109/ROBOT.1999.770022 – ident: 10.1016/j.robot.2022.104238_b5 doi: 10.1109/ROBOT.2009.5152872 – ident: 10.1016/j.robot.2022.104238_b8 doi: 10.1109/ICRA.2013.6630814 – start-page: 639 year: 2014 ident: 10.1016/j.robot.2022.104238_b13 article-title: Combined task and motion planning through an extensible planner-independent interface layer contributor: fullname: Srivastava – start-page: 114 year: 2009 ident: 10.1016/j.robot.2022.104238_b22 article-title: Semantic attachments for domain-independent planning systems contributor: fullname: Dornhege – ident: 10.1016/j.robot.2022.104238_b7 doi: 10.1109/ICRA.2011.5980391 – ident: 10.1016/j.robot.2022.104238_b11 doi: 10.1109/ROBOT.2010.5509563 – ident: 10.1016/j.robot.2022.104238_b16 – start-page: 4575 year: 2011 ident: 10.1016/j.robot.2022.104238_b3 article-title: Combining high-level causal reasoning with low-level geometric reasoning and motion planning for robotic manipulation contributor: fullname: Erdem – start-page: 293 year: 2000 ident: 10.1016/j.robot.2022.104238_b23 article-title: Rapidly-exploring random trees: Progress and prospects contributor: fullname: Lavalle – volume: 28 start-page: 104 issue: 1 year: 2009 ident: 10.1016/j.robot.2022.104238_b6 article-title: A hybrid approach to intricate motion, manipulation and task planning publication-title: I. J. Robot. Res. doi: 10.1177/0278364908097884 contributor: fullname: Cambon – ident: 10.1016/j.robot.2022.104238_b18 doi: 10.1109/ROBOT.2000.844730 – volume: 30 start-page: 846 issue: 7 year: 2011 ident: 10.1016/j.robot.2022.104238_b24 article-title: Sampling-based algorithms for optimal motion planning publication-title: Int. J. Robot. Res. doi: 10.1177/0278364911406761 contributor: fullname: Karaman – start-page: 1 year: 2021 ident: 10.1016/j.robot.2022.104238_b19 article-title: Combining task and motion planning through rapidly-exploring random trees contributor: fullname: Caccavale
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