Platform-Independent Benchmarks for Task and Motion Planning

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dc.citation.firstpage3765en_US
dc.citation.issueNumber4en_US
dc.citation.journalTitleIEEE Robotics and Automation Lettersﾠen_US
dc.citation.lastpage3772en_US
dc.citation.volumeNumber3en_US
dc.contributor.authorLagriffoul, Fabienen_US
dc.contributor.authorDantam, Neil T.en_US
dc.contributor.authorGarrett, Caelanen_US
dc.contributor.authorAkbari, Aliakbaren_US
dc.contributor.authorSrivastava, Siddharthen_US
dc.contributor.authorKavraki, Lydia E.en_US
dc.date.accessioned2018-10-31T18:20:48Zen_US
dc.date.available2018-10-31T18:20:48Zen_US
dc.date.issued2018en_US
dc.description.abstractWe 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.en_US
dc.identifier.citationLagriffoul, Fabien, Dantam, Neil T., Garrett, Caelan, et al.. "Platform-Independent Benchmarks for Task and Motion Planning." <i>IEEE Robotics and Automation Lettersﾠ,</i> 3, no. 4 (2018) IEEE: 3765-3772. https://doi.org/10.1109/LRA.2018.2856701.en_US
dc.identifier.doihttps://doi.org/10.1109/LRA.2018.2856701en_US
dc.identifier.urihttps://hdl.handle.net/1911/103244en_US
dc.language.isoengen_US
dc.publisherIEEEen_US
dc.rightsThis is an author's peer-reviewed final manuscript, as accepted by the publisher. The published article is copyrighted by IEEE.en_US
dc.titlePlatform-Independent Benchmarks for Task and Motion Planningen_US
dc.typeJournal articleen_US
dc.type.dcmiTexten_US
dc.type.publicationpost-printen_US
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