{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,15]],"date-time":"2026-07-15T15:14:49Z","timestamp":1784128489921,"version":"3.55.0"},"reference-count":49,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"4","license":[{"start":{"date-parts":[[2018,10,1]],"date-time":"2018-10-01T00:00:00Z","timestamp":1538352000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"}],"funder":[{"name":"Swedish Knowledge Foundation (KKS) project \u201cSemantic Robots\u201d"},{"name":"NSF","award":["IIS 1317849"],"award-info":[{"award-number":["IIS 1317849"]}]},{"name":"NSF","award":["CCF-1514372"],"award-info":[{"award-number":["CCF-1514372"]}]},{"name":"Kavraki Lab at Rice University"},{"name":"Spanish Government through","award":["DPI2016-80077-R"],"award-info":[{"award-number":["DPI2016-80077-R"]}]},{"name":"Spanish Government through","award":["FPI 2015"],"award-info":[{"award-number":["FPI 2015"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Robot. Autom. Lett."],"published-print":{"date-parts":[[2018,10]]},"DOI":"10.1109\/lra.2018.2856701","type":"journal-article","created":{"date-parts":[[2018,7,16]],"date-time":"2018-07-16T18:17:31Z","timestamp":1531765051000},"page":"3765-3772","source":"Crossref","is-referenced-by-count":49,"title":["Platform-Independent Benchmarks for Task and Motion Planning"],"prefix":"10.1109","volume":"3","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8631-7863","authenticated-orcid":false,"given":"Fabien","family":"Lagriffoul","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0907-2241","authenticated-orcid":false,"given":"Neil T.","family":"Dantam","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Caelan","family":"Garrett","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5290-9799","authenticated-orcid":false,"given":"Aliakbar","family":"Akbari","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Siddharth","family":"Srivastava","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0699-8038","authenticated-orcid":false,"given":"Lydia E.","family":"Kavraki","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref39","article-title":"MoveIt","author":"?ucan","year":"2015"},{"key":"ref38","article-title":"KDL: Kinematics and dynamics library","author":"smits","year":"2011"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2012.2205651"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511546877"},{"key":"ref31","author":"nau","year":"2004","journal-title":"Automated Planning Theory & Practice"},{"key":"ref30","first-page":"1930","article-title":"Logic-geometric programming: An optimization-based approach to\n combined task and motion planning","author":"toussaint","year":"0","journal-title":"Proc Twenty-Fourth Int Joint Conf Artif Intell"},{"key":"ref37","article-title":"Automated construction of robotic manipulation programs","author":"diankov","year":"2010"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1016\/j.artint.2002.12.001"},{"key":"ref35","author":"clarke","year":"1999","journal-title":"Model checking"},{"key":"ref34","doi-asserted-by":"crossref","DOI":"10.21236\/ADA254568","author":"dean","year":"1991","journal-title":"Planning and Control"},{"key":"ref28","article-title":"The\n SMT-LIB Standard: Version 2.5","author":"barrett","year":"2015"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1016\/S0004-3702(02)00186-8"},{"key":"ref29","first-page":"531","article-title":"Manipulation with\n multiple action types","author":"barry","year":"0","journal-title":"Proc Int Symp Exp Robot"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843605000545"},{"key":"ref1","article-title":"Shakey the robot","author":"nilsson","year":"1984"},{"key":"ref20","first-page":"148","article-title":"Heuristic search for task and motion planning","author":"garrett","year":"0","journal-title":"Proc Workshop Planning and Robotics"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2016.XII.002"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980160"},{"key":"ref24","article-title":"On benchmarks for combined task and motion planning","author":"lagriffoul","year":"0","journal-title":"Proc RSS Workshop Combined Task Motion Planning"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915619022"},{"key":"ref26","article-title":"PDDL2. 2: The language for the classical part of the 4th international planning competition","author":"edelkamp","year":"2004"},{"key":"ref25","article-title":"PDDL&#x2014;The Planning Domain Definition\n Language","author":"ghallab","year":"1998"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.5772\/intechopen.70307"},{"key":"ref11","first-page":"895","article-title":"A robot task\n planner that merges symbolic and geometric reasoning","author":"cambon","year":"0","journal-title":"Proc Eur Conf Artif Intell"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6225337"},{"key":"ref12","first-page":"114","article-title":"Semantic attachments for domain-independent planning systems","author":"dornhege","year":"0","journal-title":"Proc Int l Conf Automated Planning and Scheduling"},{"key":"ref13","first-page":"3327","article-title":"Manipulation planning among movable\n obstacles","author":"stilman","year":"0","journal-title":"Proc IEEE Int Conf Robot Automat"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152872"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980391"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6385726"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6696358"},{"key":"ref18","first-page":"55","article-title":"An approach for efficient planning of robotic manipulation tasks","author":"dearden","year":"0","journal-title":"Proc Int l Conf Automated Planning and Scheduling"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6906922"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/ETFA.2016.7733599"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2015.XI.045"},{"key":"ref6","article-title":"Asymptotically optimal planning under piecewise-analytic constraints","author":"vega-brown","year":"0","journal-title":"Proc Workshop Algorithmic Foundations Robot"},{"key":"ref5","first-page":"5","article-title":"Combining task and path planning for a humanoid two-arm robotic system","author":"karlsson","year":"0","journal-title":"TAMPRA Combining Task and Motion Planning for Real-World Applications (ICAPS Workshop)"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1007\/s10817-012-9246-5"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1609\/aimag.v36i3.2571"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913507795"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1145\/267658.267738"},{"key":"ref46","author":"hartenberg","year":"1964","journal-title":"Kinematic Synthesis of Linkages"},{"key":"ref45","first-page":"4052","article-title":"Impact of modeling languages on the theory and practice in\n planning research","author":"rintanen","year":"0","journal-title":"Twenty-Ninth AAAI Conf Artif Intell"},{"key":"ref48","year":"2012","journal-title":"Industrial Automation Systems and Integration &#x2013; COLLADA Digital Asset Schema Specification for 3D Visualization of Industrial Data"},{"key":"ref47","article-title":"URDF XML","year":"2013"},{"key":"ref42","article-title":"The\n task motion kit","author":"dantam","year":"2018","journal-title":"Robot Automat Mag"},{"key":"ref41","doi-asserted-by":"crossref","DOI":"10.1177\/0278364918761570","article-title":"An incremental\n constraint-based framework for task and motion planning","author":"dantam","year":"2018","journal-title":"Int J Robot Res"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2017.XIII.039"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7354287"}],"container-title":["IEEE Robotics and Automation Letters"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/7083369\/8386768\/08411475.pdf?arnumber=8411475","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,1,26]],"date-time":"2022-01-26T13:26:17Z","timestamp":1643203577000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/8411475\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,10]]},"references-count":49,"journal-issue":{"issue":"4"},"URL":"https:\/\/doi.org\/10.1109\/lra.2018.2856701","relation":{},"ISSN":["2377-3766","2377-3774"],"issn-type":[{"value":"2377-3766","type":"electronic"},{"value":"2377-3774","type":"electronic"}],"subject":[],"published":{"date-parts":[[2018,10]]}}}