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Published online by Cambridge University Press: 19 May 2025
Acting with robots and sensory-motor devices demands the combined capabilities of reasoning both on abstract actions and on concrete motion and manipulation steps. In the robotics literature, this is referred to as "task-aware planning," i.e., planning beyond motion and manipulation. In the AI literature, it is referred to as "combined task and motion planning" (TAMP). This class of TAMP problems, which includes task, motion, and manipulation planning, is the topic of this part. The challenge in TAMP is the integration of symbolic models for task planning with metric models for motion and manipulation. This part introduces the representations and techniques for achieving and controlling motion, navigation, and manipulation actions in robotics. It discusses motion and manipulation planning algorithms, and their integration with task planning in TAMP problems. It covers learning for the combined task and motion-manipulation problems.
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