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2018 (English)In: IEEE Robotics and Automation Letters, E-ISSN 2377-3766, Vol. 3, no 4, p. 3765-3772Article in journal (Refereed) Published
Abstract [en]
We present the first platform-independent evaluation method for task and motion planning (TAMP). Previously point, various problems have been used to test individual planners for specific aspects of TAMP. However, no common set of metrics, formats, and problems have been accepted by the community. We propose a set of benchmark problems covering the challenging aspects of TAMP and a planner-independent specification format for these problems. Our objective is to better evaluate and compare TAMP planners, foster communication, and progress within the field, and lay a foundation to better understand this class of planning problems.
Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2018
Keywords
Performance evaluation and benchmarking, task planning, manipulation planning
National Category
Computer graphics and computer vision
Identifiers
urn:nbn:se:oru:diva-68581 (URN)10.1109/LRA.2018.2856701 (DOI)000441444700012 ()2-s2.0-85063307661 (Scopus ID)
Note
Funding Agencies:
Swedish Knowledge Foundation (KKS) project "Semantic Robots"
NSF IIS 1317849 CCF-1514372
Spanish Government DPI2016-80077-R
Spanish Government through the Grant FPI 2015
2018-08-272018-08-272025-02-07Bibliographically approved