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from Part VII - Motion and Manipulation Models in Robotics
Published online by Cambridge University Press: 19 May 2025
Task and motion planning (TAMP) problems combine abstract causal relations from preconditions to effects with computational geometry, kinematics, and dynamics. This chapter is about the integration of planning for motion/manipulation with planning for abstract actions. It introduces the main sampling-based algorithms for motion planning. Manipulation planning is subsequently introduced. A few approaches specific to TAMP are then presented.
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