This article describes all the components needed to build a motion planning stack for a robot manipulator. You will learn the basics of inverse kinematics, motion planning, and trajectory generation, as well as model representations and common software packages you should know about.
Category Archives: Task and Motion Planning
Integrated Task and Motion Planning in Robotics
Learn the fundamentals of integrated task and motion planning (TAMP), and explore examples using PDDLStream, which combines symbolic task planning and sampling-based motion planning.
Task Planning in Robotics
Learn the fundamentals of task planning for robotics applications, with a focus on Planning Domain Definition Language (PDDL).
Building a Python Toolbox for Robot Behavior
Find out about the initial development of pyrobosim: A ROS2 enabled 2D mobile robot simulator for behavior prototyping.
2021 in Review, Part 1: Research Projects at MIT CSAIL
Sebastian discusses 3 of his major collaborative projects at MIT CSAIL, which focus on learning and planning under uncertainty.
Introduction to Behavior Trees
This post introduces behavior trees for designing and managing the execution of complex behaviors in autonomous systems. This includes robotics examples, software library recommendations, and comparisons to finite-state machines.
2020 in Review: Home Service Robotics at MIT CSAIL
Learn about Sebastian’s major project of 2020 at MIT CSAIL. This consists of a task and motion planning framework for a mobile manipulation platform for home service robotics.