{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,21]],"date-time":"2026-01-21T12:52:11Z","timestamp":1768999931248,"version":"3.49.0"},"reference-count":43,"publisher":"Springer Science and Business Media LLC","issue":"6","license":[{"start":{"date-parts":[[2018,10,26]],"date-time":"2018-10-26T00:00:00Z","timestamp":1540512000000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Auton Robot"],"published-print":{"date-parts":[[2019,8]]},"DOI":"10.1007\/s10514-018-9817-3","type":"journal-article","created":{"date-parts":[[2018,10,26]],"date-time":"2018-10-26T12:08:21Z","timestamp":1540555701000},"page":"1575-1590","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":24,"title":["Combined heuristic task and motion planning for bi-manual robots"],"prefix":"10.1007","volume":"43","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5290-9799","authenticated-orcid":false,"given":"Aliakbar","family":"Akbari","sequence":"first","affiliation":[]},{"given":"Fabien","family":"Lagriffoul","sequence":"additional","affiliation":[]},{"given":"Jan","family":"Rosell","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2018,10,26]]},"reference":[{"key":"9817_CR1","doi-asserted-by":"crossref","unstructured":"Akbari, A., Gillani, M., & Rosell, J. (2015a). Reasoning-based evaluation of manipulation actions for efficient task planning. In ROBOT2015: Second Iberian robotics conference. Berlin: Springer.","DOI":"10.1007\/978-3-319-27146-0_6"},{"key":"9817_CR2","doi-asserted-by":"crossref","unstructured":"Akbari, A., Gillani, M., & Rosell, J. (2015b). Task and motion planning using physics-based reasoning. In IEEE international conference on emerging technologies and factory automation.","DOI":"10.1109\/ETFA.2015.7301471"},{"key":"9817_CR3","doi-asserted-by":"crossref","unstructured":"Akbari, A., Gillani, M., & Rosell, J. (2016). Task planning using physics-based heuristics on manipulation actions. In IEEE international conference on emerging technologies and factory automation.","DOI":"10.1109\/ETFA.2016.7733599"},{"key":"9817_CR4","doi-asserted-by":"crossref","unstructured":"Azizi, V., Kimmel, A., Bekris, K., & Kapadia, M. (2017). Geometric reachability analysis for grasp planning in cluttered scenes for varying end-effectors. In 2017 13th IEEE conference on automation science and engineering (CASE), IEEE (pp. 764\u2013769).","DOI":"10.1109\/COASE.2017.8256196"},{"issue":"1","key":"9817_CR5","doi-asserted-by":"publisher","first-page":"281","DOI":"10.1016\/S0004-3702(96)00047-1","volume":"90","author":"AL Blum","year":"1997","unstructured":"Blum, A. L., & Furst, M. L. (1997). Fast planning through planning graph analysis. Artificial intelligence, 90(1), 281\u2013300.","journal-title":"Artificial intelligence"},{"issue":"1","key":"9817_CR6","doi-asserted-by":"publisher","first-page":"104","DOI":"10.1177\/0278364908097884","volume":"28","author":"S Cambon","year":"2009","unstructured":"Cambon, S., Alami, R., & Gravot, F. (2009). A hybrid approach to intricate motion, manipulation and task planning. The International Journal of Robotics Research, 28(1), 104\u2013126.","journal-title":"The International Journal of Robotics Research"},{"key":"9817_CR7","volume-title":"Model checking","author":"EM Clarke","year":"1999","unstructured":"Clarke, E. M., Grumberg, O., & Peled, D. (1999). Model checking. London: MIT Press."},{"key":"9817_CR8","unstructured":"Dantam, N., Kingston, Z. K., Chaudhuri, S., & Kavraki, L. E. (2016). Incremental task and motion planning: A constraint-based approach. In Robotics: Science and systems."},{"issue":"9","key":"9817_CR9","doi-asserted-by":"publisher","first-page":"69","DOI":"10.1145\/1995376.1995394","volume":"54","author":"L Moura De","year":"2011","unstructured":"De Moura, L., & Bj\u00f8rner, N. (2011). Satisfiability modulo theories: Introduction and applications. Communications of the ACM, 54(9), 69\u201377.","journal-title":"Communications of the ACM"},{"key":"9817_CR10","unstructured":"de\u00a0Silva, L., Pandey, A. K., Gharbi, M., & Alami, R. (2013). Towards combining HTN planning and geometric task planning. In RSS workshop on combined robot motion planning and AI planning for practical applications."},{"key":"9817_CR11","unstructured":"Dornhege, C., Eyerich, P., Keller, T., Tr\u00fcg, S., Brenner, M., & Nebel, B. (2012). Semantic attachments for domain-independent planning systems. In Towards service robots for everyday environments. Berlin: Springer (pp. 99\u2013115)."},{"key":"9817_CR12","doi-asserted-by":"crossref","unstructured":"Erdem, E., Haspalamutgil, K., Palaz, C., Patoglu, V., & Uras, T. (2011). Combining high-level causal reasoning with low-level geometric reasoning and motion planning for robotic manipulation. In IEEE international conference on robotics and automation robotics and automation (pp. 4575\u20134581).","DOI":"10.1109\/ICRA.2011.5980160"},{"issue":"2","key":"9817_CR13","doi-asserted-by":"publisher","first-page":"319","DOI":"10.3233\/AIC-150697","volume":"29","author":"E Erdem","year":"2016","unstructured":"Erdem, E., Patoglu, V., & Sch\u00fcller, P. (2016). A systematic analysis of levels of integration between high-level task planning and low-level feasibility checks. AI Communications, 29(2), 319\u2013349.","journal-title":"AI Communications"},{"key":"9817_CR14","unstructured":"Garrett, C. R., Lozano-P\u00e9rez, T., & Kaelbling, L. P. (2015). FFRob: An efficient heuristic for task and motion planning. In Algorithmic foundations of robotics XI. Berlin: Springer (pp. 179\u2013195)."},{"key":"9817_CR15","volume-title":"Automated planning: Theory and practice","author":"M Ghallab","year":"2004","unstructured":"Ghallab, M., Nau, D., & Traverso, P. (2004). Automated planning: Theory and practice. Amsterdam: Elsevier."},{"issue":"1","key":"9817_CR16","doi-asserted-by":"publisher","first-page":"5","DOI":"10.1177\/0278364913507795","volume":"33","author":"K Hauser","year":"2014","unstructured":"Hauser, K. (2014). The minimum constraint removal problem with three robotics applications. The International Journal of Robotics Research, 33(1), 5\u201317.","journal-title":"The International Journal of Robotics Research"},{"issue":"7","key":"9817_CR17","doi-asserted-by":"publisher","first-page":"897","DOI":"10.1177\/0278364909352098","volume":"29","author":"K Hauser","year":"2010","unstructured":"Hauser, K., & Latombe, J. C. (2010). Multi-modal motion planning in non-expansive spaces. The International Journal of Robotics Research, 29(7), 897\u2013915.","journal-title":"The International Journal of Robotics Research"},{"key":"9817_CR18","unstructured":"Hauser, K., Ng-Thow-Hing, V., & Gonzalez-Ba\u00f1os, H. (2010). Multi-modal motion planning for a humanoid robot manipulation task. In Robotics research. Berlin: Springer (pp. 307\u2013317)."},{"key":"9817_CR19","doi-asserted-by":"crossref","unstructured":"He, K., Lahijanian, M., Kavraki, L. E., & Vardi, M. Y. (2015). Towards manipulation planning with temporal logic specifications. In 2015 IEEE international conference on robotics and automation (ICRA), IEEE (pp. 346\u2013352).","DOI":"10.1109\/ICRA.2015.7139022"},{"key":"9817_CR20","doi-asserted-by":"crossref","unstructured":"Hertle, A., & Nebel, B. (2017). Identifying good poses when doing your household chores: Creation and exploitation of inverse surface reachability maps. In 2017 IEEE\/RSJ international conference on intelligent robots and systems (IROS), IEEE (pp. 6053\u20136058).","DOI":"10.1109\/IROS.2017.8206504"},{"key":"9817_CR21","doi-asserted-by":"publisher","first-page":"253","DOI":"10.1613\/jair.855","volume":"14","author":"J Hoffmann","year":"2001","unstructured":"Hoffmann, J., & Nebel, B. (2001). The FF planning system: Fast plan generation through heuristic search. Journal of Artificial Intelligence Research, 14, 253\u2013302.","journal-title":"Journal of Artificial Intelligence Research"},{"key":"9817_CR22","doi-asserted-by":"crossref","unstructured":"Kaelbling, L. P., & Lozano-P\u00e9rez, T. (2011). Hierarchical task and motion planning in the now. In IEEE international conference on robotics and automation robotics and automation (pp. 1470\u20131477).","DOI":"10.1109\/ICRA.2011.5980391"},{"issue":"4","key":"9817_CR23","doi-asserted-by":"publisher","first-page":"566","DOI":"10.1109\/70.508439","volume":"12","author":"LE Kavraki","year":"1996","unstructured":"Kavraki, L. E., Svestka, P., Latombe, J. C., & Overmars, M. H. (1996). Probabilistic roadmaps for path planning in high-dimensional configuration spaces. IEEE Transactions on Robotics and Automation, 12(4), 566\u2013580.","journal-title":"IEEE Transactions on Robotics and Automation"},{"key":"9817_CR24","doi-asserted-by":"crossref","unstructured":"Kuffner, J. J., & LaValle, S. M. (2000). RRT-connect: An efficient approach to single-query path planning. In Proceedings of IEEE international conference on robotics and automation. ICRA\u201900, IEEE (Vol. 2, pp. 995\u20131001).","DOI":"10.1109\/ROBOT.2000.844730"},{"issue":"8","key":"9817_CR25","doi-asserted-by":"publisher","first-page":"890","DOI":"10.1177\/0278364915619022","volume":"35","author":"F Lagriffoul","year":"2016","unstructured":"Lagriffoul, F., & Andres, B. (2016). Combining task and motion planning: A culprit detection problem. The International Journal of Robotics Research, 35(8), 890\u2013927.","journal-title":"The International Journal of Robotics Research"},{"key":"9817_CR26","doi-asserted-by":"crossref","unstructured":"Lagriffoul, F., Dimitrov, D., Saffiotti, A., & Karlsson, L. (2012). Constraint propagation on interval bounds for dealing with geometric backtracking. In 2012 IEEE\/RSJ international conference on intelligent robots and systems (IROS), IEEE (pp. 957\u2013964).","DOI":"10.1109\/IROS.2012.6385972"},{"issue":"14","key":"9817_CR27","doi-asserted-by":"publisher","first-page":"1726","DOI":"10.1177\/0278364914545811","volume":"33","author":"F Lagriffoul","year":"2014","unstructured":"Lagriffoul, F., Dimitrov, D., Bidot, J., Saffiotti, A., & Karlsson, L. (2014). Efficiently combining task and motion planning using geometric constraints. The International Journal of Robotics Research, 33(14), 1726\u20131747.","journal-title":"The International Journal of Robotics Research"},{"key":"9817_CR28","unstructured":"Lagriffoul, F., Karlsson, L., Bidot, J., & Saffiotti, R. (2013). Combining task and motion planning is not always a good idea. In RSS workshop on combined robot motion planning."},{"issue":"5","key":"9817_CR29","doi-asserted-by":"publisher","first-page":"378","DOI":"10.1177\/02783640122067453","volume":"20","author":"SM LaValle","year":"2001","unstructured":"LaValle, S. M., & Kuffner, J. J. (2001). Randomized kinodynamic planning. The International Journal of Robotics Research, 20(5), 378\u2013400.","journal-title":"The International Journal of Robotics Research"},{"issue":"1\u20132","key":"9817_CR30","doi-asserted-by":"publisher","first-page":"39","DOI":"10.1016\/S0004-3702(02)00186-8","volume":"138","author":"V Lifschitz","year":"2002","unstructured":"Lifschitz, V. (2002). Answer set programming and plan generation. Artificial Intelligence, 138(1\u20132), 39\u201354.","journal-title":"Artificial Intelligence"},{"key":"9817_CR31","doi-asserted-by":"publisher","first-page":"108","DOI":"10.1109\/TC.1983.1676196","volume":"C\u201332","author":"T Lozano-Perez","year":"1983","unstructured":"Lozano-Perez, T. (1983). Spatial planning: A configuration space approach. IEEE Transactions on Computers, C\u201332, 108\u2013120.","journal-title":"IEEE Transactions on Computers"},{"key":"9817_CR32","unstructured":"Mcdermott, D., Ghallab, M., Howe, A., Knoblock, C., Ram, A., Veloso, M., Weld, D., & Wilkins, D. (1998). PDDL\u2013The planning domain definition language. AIPS-98 Planning Competition Committee."},{"key":"9817_CR33","doi-asserted-by":"crossref","unstructured":"Muhayyuddin, G., Akbari A., & Rosell, J. (2015). Ontological physics-based motion planning for manipulation. In IEEE international conference on emerging technologies and factory automation, IEEE.","DOI":"10.1109\/ETFA.2015.7301404"},{"issue":"2","key":"9817_CR34","doi-asserted-by":"publisher","first-page":"712","DOI":"10.1109\/LRA.2017.2783445","volume":"3","author":"G Muhayyuddin","year":"2018","unstructured":"Muhayyuddin, G., Moll, M., Kavraki, L. E., & Rosell, J. (2018). Randomized physics-based motion planning for grasping in cluttered and uncertain environments. IEEE Robotics and Automation Letters, 3(2), 712\u2013719. \n                    https:\/\/doi.org\/10.1109\/LRA.2017.2783445\n                    \n                  .","journal-title":"IEEE Robotics and Automation Letters"},{"key":"9817_CR35","unstructured":"Pednault, E. P. D. (1989). ADL: Exploring the middle ground between strips and the situation calculus. In Proceedings of the first international conference on principles of knowledge representation and reasoning. San Francisco: Morgan Kaufmann Publishers Inc. (pp. 324\u2013332)."},{"key":"9817_CR36","unstructured":"Quigley, M., Conley, K., Gerkey, B., Faust, J., Foote, T., Leibs, J., Wheeler, R., & Ng, A. Y. (2009). ROS: An open-source robot operating system. In ICRA workshop on open source software (Vol. 3, pp. 5)."},{"key":"9817_CR37","doi-asserted-by":"crossref","unstructured":"Rosell, J., P\u00e9rez, A., Aliakbar, A., Muhayyuddin, G., Palomo, L., & Garc\u00eda, N. (2014). The Kautham project: A teaching and research tool for robot motion planning. In IEEE international conference on emerging technologies and factory automation.","DOI":"10.1109\/ETFA.2014.7005143"},{"issue":"7\u20138","key":"9817_CR38","doi-asserted-by":"publisher","first-page":"729","DOI":"10.1177\/0278364904045471","volume":"23","author":"T Sim\u00e9on","year":"2004","unstructured":"Sim\u00e9on, T., Laumond, J. P., Cort\u00e9s, J., & Sahbani, A. (2004). Manipulation planning with probabilistic roadmaps. The International Journal of Robotics Research, 23(7\u20138), 729\u2013746.","journal-title":"The International Journal of Robotics Research"},{"key":"9817_CR39","doi-asserted-by":"crossref","unstructured":"Srivastava, S., Fang, E., Riano, L., Chitnis, R., Russell, S., & Abbeel, P. (2014). Combined task and motion planning through an extensible planner-independent interface layer. In IEEE international conference on robotics and automation robotics and automation (pp. 639\u2013646).","DOI":"10.1109\/ICRA.2014.6906922"},{"issue":"11\u201312","key":"9817_CR40","doi-asserted-by":"publisher","first-page":"1295","DOI":"10.1177\/0278364908098457","volume":"27","author":"M Stilman","year":"2008","unstructured":"Stilman, M., & Kuffner, J. (2008). Planning among movable obstacles with artificial constraints. The International Journal of Robotics Research, 27(11\u201312), 1295\u20131307.","journal-title":"The International Journal of Robotics Research"},{"key":"9817_CR41","doi-asserted-by":"crossref","unstructured":"Stilman, M., Schamburek, J. U., Kuffner, J., & Asfour, T. (2007). Manipulation planning among movable obstacles. In 2007 IEEE international conference on robotics and automation, IEEE (pp. 3327\u20133332).","DOI":"10.1109\/ROBOT.2007.363986"},{"issue":"4","key":"9817_CR42","doi-asserted-by":"publisher","first-page":"72","DOI":"10.1109\/MRA.2012.2205651","volume":"19","author":"I Sucan","year":"2012","unstructured":"Sucan, I., Moll, M., Kavraki, L. E., et al. (2012). The open motion planning library. IEEE Robotics and Automation Magazine, 19(4), 72\u201382.","journal-title":"IEEE Robotics and Automation Magazine"},{"issue":"2","key":"9817_CR43","doi-asserted-by":"publisher","first-page":"192","DOI":"10.4995\/riai.2017.8822","volume":"15","author":"I Zaplana","year":"2018","unstructured":"Zaplana, I., Claret, J. A., & Basanez, L. B. (2018). An\u00e1lisis cinem\u00e1tico de robots manipuladores redundantes: Aplicaci\u00f3n a los robots kuka lwr 4+ y abb yumi. Revista Iberoamericana de Autom\u00e1tica e Inform\u00e1tica industrial, 15(2), 192\u2013202.","journal-title":"Revista Iberoamericana de Autom\u00e1tica e Inform\u00e1tica industrial"}],"container-title":["Autonomous Robots"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-018-9817-3.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10514-018-9817-3\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-018-9817-3.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,10,25]],"date-time":"2019-10-25T21:06:59Z","timestamp":1572037619000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10514-018-9817-3"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,10,26]]},"references-count":43,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2019,8]]}},"alternative-id":["9817"],"URL":"https:\/\/doi.org\/10.1007\/s10514-018-9817-3","relation":{},"ISSN":["0929-5593","1573-7527"],"issn-type":[{"value":"0929-5593","type":"print"},{"value":"1573-7527","type":"electronic"}],"subject":[],"published":{"date-parts":[[2018,10,26]]},"assertion":[{"value":"28 November 2017","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"13 October 2018","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"26 October 2018","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}