Alessio Saccuti

PROTAMP-RRT: A Probabilistic Integrated Task and Motion Planner Based on RRT

Solving complex robot manipulation tasks requires a Task and Motion Planner (TAMP) that searches for a sequence of symbolic actions, i.e. a task plan, and also computes collision-free motion paths. As the task planner and the motion planner are closely interconnected TAMP is considered a challenging