We present a new algorithm for task and motion planning (TMP) and discuss the
requirements and abstractions necessary to obtain robust solutions for TMP in general. Our …

We present a new constraint-based framework for task and motion planning (TMP). Our
approach is extensible, probabilistically complete, and offers improved performance and …

We present a compositional motion planning framework for multi-robot systems based on an
encoding to satisfiability modulo theories (SMT). In our framework, the desired behavior of a …

This paper introduces a motion-planning framework for a hybrid system with general
continuous dynamics to satisfy a temporal logic specification consisting of cosafety and …

This article describes approach for solving motion planning problems for mobile robots
involving temporal goals. Traditional motion planning for mobile robotic systems involves the …

Robotics is concerned with the generation of computer-controlled motions of physical
objects in a wide variety of settings. Because physical objects define spatial distributions in 3 …

This paper considers the problem of motion planning for a hybrid robotic system with
complex and nonlinear dynamics in a partially unknown environment given a temporal logic …

The specification of complex motion goals through temporal logics is increasingly favored in
robotics to narrow the gap between task and motion planning. A major limiting factor of such …

In this paper we present a method for automatically planning robust optimal paths for a
group of robots that satisfy a common high level mission specification. Each robot's motion in …

Robot applications are increasingly based on teams of robots that collaborate to perform a
desired mission. Such applications ask for decentralized techniques that allow for tractable …