Continuous Optimization-Based Task and Motion Planning with Signal Temporal Logic Specifications for Sequential Manipulation
Rin Takano Hiroyuki Oyama Masaki Yamakita Rin Takano Hiroyuki Oyama Masaki Yamakita
We propose a new optimization-based task and motion planning (TAMP) with signal temporal logic (STL) specifications for robotic sequential manipulation such as pick-and-place tasks. Given a high-level task specification, the TAMP problem is to plan a trajectory that satisfies the specification. This is, however, a challenging problem due to the difficulty of combining continuous motion planning an...