Plan Under Uncertainty

Integrated Task and Motion Planning

Integration of discrete task planning and continuous motion planning


Dynamic Event-triggered Integrated Task and Motion Planning for Process-aware Source Seeking

Formulated the process-aware source seeking (PASS) problem as a task and motion planning (TAMP) problem and proposed a bi-level hierarchical planning framework to decouple the planning of inter-region transition and inner-region trajectory by introducing inter-region junctions