Combined Task and Motion Planning

A selection of papers and illustrative videos dedicated to intricate robot planning problems which call for combined symbolic and geometric planning techniques.

A Formulation of the Manipulation Planning Problem and the first implementations of CTAMP planners

 

A Geometrical Approach to Planning Manipulation Tasks. The Case of Discrete Placements and Grasps
R. Alami, T. Siméon, and J.-P. Laumond.
in International Symposium on Robotics Research, 1989.

Motion planning for a robot and a movable object amidst polygonal obstacles.
B. Dacre-Wright, J.-P. Laumond, and R.Alami
in Proceedings of the 1992 IEEE International Conference on Robotics and Automation, Nice, France, May 1992, pp. 2474-2480.

Two Manipulation Planning Algorithms.
R. Alami, J.-P. Laumond, and T. Siméon.
in Workshop on Algorithmic Foundations of Robotics, 1994, pp. 109-125.

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The Asymov Planner

 

The Asymov Planner: the first planner which integrates effectively in one planning step symbolic and Geometric planning based on the formulation of the Manipulation Planning Problem.

A Hybrid Approach to Intricate Motion, Manipulation and Task Planning.
S. Cambon, R. Alami, and F. Gravot,
International Journal of Robotics Research, 2009.

A Robot Task Planner that Merges Symbolic and Geometric Reasoning.
S. Cambon, F. Gravot, and R. Alami,
in Proceedings of the 16th European Conference on Artificial Intelligence, ECAI 2004, Valencia, Spain, August 2004, pp. 895-899.

A method for handling multiple roadmaps and its use for complex manipulation planning.
F. Gravot and R. Alami,
in Proceedings of the 2003 IEEE International Conference on Robotics and Automation, ICRA 2003, September 2003, Taipei pp. 2914-2919.

aSyMov: A Planner That Deals with Intricate Symbolic and Geometric Problems.
F. Gravot, S. Cambon, and R. Alami,
in Robotics Research, The Eleventh International Symposium, ISRR, October 2003, Siena, Italy

Playing with several roadmaps to solve manipulation problems.
F. Gravot, R. Alami, and T. Siméon.
in IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, September 30 - October 4, 2002, 2002, pp. 2311–2316.

CTAMP planning of the Hanoi Tower Problem

CTAMP planning of the Hanoi Tower Problem with two robots

ASyMoV: CTAMP planning of the Hanoi Tower Problem with one small obstacle

ASyMoV: CTAMP planning of the Hanoi Tower Problem with one big obstacle

ASyMoV: CTAMP planning for two worklifts: One robot opens the door for the other to cross

ASyMoV: CTAMP planning for two worklifts: A big box is blocking the passage

ASyMoV: Solving (action and motion) a so-called "IKEA problem" with two robots assembling a table

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More recent contributions to Combined Task and Motion Planning

 

HATP: Hierarchical Agent-based Task Planner,
R. Lallement, L. de Silva, and R. Alami.
in Proceedings of the 17th International Conference on Autonomous Agents and MultiAgent Systems, AAMAS 2018, Stockholm, Sweden, pp. 1823-1825.

Combining symbolic and geometric planning to synthesize human-aware plans: toward more efficient combined search,
M. Gharbi, R. Lallement, and R. Alami
in 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, Hamburg, Germany, September 2015, pp. 6360-6365.

A new approach to combined symbolic-geometric backtracking in the context of human-robot interaction.
L. de Silva, M. Gharbi, A. K. Pandey, and R. Alami.
in 2014 IEEE International Conference on Robotics and Automation, ICRA 2014, Hong Kong, China, 2014, pp. 3757-3763.

Towards Combining HTN Planning and Geometric Task Planning,
L. de Silva, A. K. Pandey, M. Gharbi, and R. Alami,
in RSS Workshop on Combined Robot Motion Planning and AI Planning for Practical Applications, 2013, vol. abs/1307.1482.

An interface for interleaved symbolic-geometric planning and backtracking.
L. de Silva, A. K. Pandey, and R. Alami.
in 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, Japan, November 2013, pp. 232-239.

Interleaving Symbolic and Geometric Reasoning for a Robotic Assistant
S. Alili, A. K. Pandey, E. A. Sisbot, and R. Alami.
in ICAPS Workshop on Combining Action and Motion Planning, 2010.

Combining Symbolic and Geometric Planning: dealing with ramification and performing constrained geometric task refinement

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Specific Task Planners based on the same principle as the Manipulation Planning Problem

 

Specific Task Planners based on the same principle as the Manipulation Planning Problem:
a search through several manifolds corresponding to different motion modalities.

Pick&Place and Handover Action in an HRI context

A Novel Software Combining Task and Motion Planning for Human-Robot Interaction,
J. Waldhart, M. Gharbi, and R. Alami.
in 2016 AAAI Fall Symposium Series, 2016.

Sharing effort in planning human-robot handover tasks.
Jim Mainprice, Mamoun Gharbi, Thierry Siméon, Rachid Alami.
RO-MAN 2012: 764-770

Planning handovers involving humans and robots in constrained environment.
J. Waldhart, M. Gharbi, and R. Alami,
in 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, Hamburg, Germany, 2015, pp. 6473-6478.

Planning the transfer of a big object by pivoting manipulation

Pivoting based manipulation by a humanoid robot.
Eiichi Yoshida, Mathieu Poirier, Jean-Paul Laumond, Oussama Kanoun, Florent Lamiraux, Rachid Alami, Kazuhito Yokoi.
Autonomous Robots, vol. 28, no. 1, pp. 77-88, Jan. 2010.

Regrasp planning for pivoting manipulation by a humanoid robot.
Eiichi Yoshida, Mathieu Poirier, Jean-Paul Laumond, Oussama Kanoun, Florent Lamiraux, Rachid Alami, Kazuhito Yokoi.
IEEE ICRA 2009: 2467-2472

Pivoting based manipulation by humanoids: a controllability analysis,
E. Yoshida, M. Poirier, J.-P. Laumond, R. Alami, and K. Yokoi,
In 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems,San Diego, California, USA, 2007

2009 ICRA Yoshida

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Other contribution to the study of the intricacies between Motion and Task Planning for Robotics Problems

 


Let's Reduce the Gap between task Planning and Motion Planning.
E. Guere and R. Alami.
in Proceedings of the 2001 IEEE International Conference on Robotics and Automation, Seoul, Korea, May 2001, pp. 15-20.

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