Task and Motion Planning
Current Contributors: James Motes, Hannah Lee, Nancy Amato
Project Alumni: Read Sandström
General task planners deal with discrete sets of actions and cannot reason about geometric motions. Motion planners have no inherent semantics needed to define a higher-level notion of a task. The integration of task and motion planning provides a complementary solution to complex problems. We study this integration, particularly in multi-robot systems, and have developed algorithms for efficiently solving problems in this domain.

Robot Interaction


We efficiently plan when, where, and how to perform robot interactions in order to leverage the capabilities of robots in the system.

Task Allocation


Task allocation seeks a feasible set of assignments of tasks to robots.