Combining Task and Motion Planning: Challenges and Guidelines

Combined Task and Motion Planning (TAMP) is an area where no one-fits-all solution can exist. Many aspects of the domain, as well as operational requirements, have an effect on how algorithms and representations are designed. Frequently, trade-offs have to be made to build a system that is effective. We propose five research questions that we believe need to be answered to solve real-world problems that involve combined TAMP. We show which decisions and trade-offs should be made with respect to these research questions, and illustrate these on examples of existing application domains. By doing so, this article aims to provide a guideline for designing combined TAMP solutions that are adequate and effective in the target scenario.

Automated summary

In the area of Combined Task and Motion Planning (TAMP), there is no one-size-fits-all solution due to the various aspects of the domain and operational requirements. Trade-offs often have to be made to build an effective system. This article proposes five research questions that need to be answered to solve real-world problems involving TAMP, and provides guidance for designing adequate and effective solutions based on decisions and trade-offs made with respect to these questions.