Platform-Independent Benchmarks for Task and Motion Planning

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dc.citation.firstpage3765
dc.citation.issueNumber4
dc.citation.journalTitleIEEE Robotics and Automation Lettersﾠ
dc.citation.lastpage3772
dc.citation.volumeNumber3
dc.contributor.authorLagriffoul, Fabien
dc.contributor.authorDantam, Neil T.
dc.contributor.authorGarrett, Caelan
dc.contributor.authorAkbari, Aliakbar
dc.contributor.authorSrivastava, Siddharth
dc.contributor.authorKavraki, Lydia E.
dc.date.accessioned2018-10-31T18:20:48Z
dc.date.available2018-10-31T18:20:48Z
dc.date.issued2018
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.
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.
dc.identifier.doihttps://doi.org/10.1109/LRA.2018.2856701
dc.identifier.urihttps://hdl.handle.net/1911/103244
dc.language.isoeng
dc.publisherIEEE
dc.rightsThis is an author's peer-reviewed final manuscript, as accepted by the publisher. The published article is copyrighted by IEEE.
dc.titlePlatform-Independent Benchmarks for Task and Motion Planning
dc.typeJournal article
dc.type.dcmiText
dc.type.publicationpost-print
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