Problems
From Tamp Benchmarking
I propose two problems (Tower of Hanoi and Blocks-World 3D), which respect the requirements discussed above, and which are described in [1]. I find these problems interesting due to the strong dependencies between logical and geometric level, plus the fact that they can be scaled up [to be completed].
Added the rearrangement planning problem following the discussion
Tower of Hanoi
Tower of Hanoi with mobile robots. Work in progress: converting this problem to a humanoid robot setup.
Blocks-World 3D
Blocks-World 3D with geometric constraint on the (mandatory) intermediate location.
Rearrangement planning
The rearrangement planning problem [2] [3].
References
- Jump up ↑ Fabien Lagriffoul. On Benchmarks for Combined Task and Motion Planning. TAMP Workshop, RSS 2016.
- Jump up ↑ G. Havur et al., Geometric rearrangement of multiple movable objects on cluttered surfaces: A hybrid reasoning approach, Proceedings of ICRA 2014.
- Jump up ↑ F. Lagriffoul, B. Andres, Combining Task and Motion Planning: a culprit detection problem, The International Journal of Robotics Research, 2016.
