TY  - JOUR
A1  - Lagriffoul, Fabien
A1  - Andres, Benjamin
T1  - Combining task and motion planning
BT  - A culprit detection problem
JF  - The international journal of robotics research
N2  - Solving problems combining task and motion planning requires searching across a symbolic search space and a geometric search space. Because of the semantic gap between symbolic and geometric representations, symbolic sequences of actions are not guaranteed to be geometrically feasible. This compels us to search in the combined search space, in which frequent backtracks between symbolic and geometric levels make the search inefficient.We address this problem by guiding symbolic search with rich information extracted from the geometric level through culprit detection mechanisms.
KW  - combined task and motion planning
KW  - manipulation planning
Y1  - 2016
U6  - https://doi.org/10.1177/0278364915619022
SN  - 1741-3176
SN  - 0278-3649
VL  - 35
IS  - 8
SP  - 890
EP  - 927
PB  - Sage Science Press
CY  - Thousand Oaks
ER  -