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Platform-Independent Benchmarks for Task and Motion Planning
Örebro University, School of Science and Technology. (AASS)ORCID iD: 0000-0002-8631-7863
Colorado School of Mines, Golden CO, USA.
Massachusetts Institute of Technology, Cambridge MA, USA.
Universidad Politécnica de Catalunya, Barcelona, Spain.
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2018 (English)In: IEEE Robotics and Automation Letters, ISSN 2377-3766, E-ISSN 1949-3045, 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. Vol. 3, no 4, p. 3765-3772
Keywords [en]
Performance evaluation and benchmarking, task planning, manipulation planning
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
URN: urn:nbn:se:oru:diva-68581DOI: 10.1109/LRA.2018.2856701ISI: 000441444700012OAI: oai:DiVA.org:oru-68581DiVA, id: diva2:1242047
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 

Available from: 2018-08-27 Created: 2018-08-27 Last updated: 2018-08-27Bibliographically approved

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Lagriffoul, Fabien

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CiteExportLink to record
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  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
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  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
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  • asciidoc
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