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Anais do Congresso Brasileiro de Automática 2020
This paper addresses the integration of task planning and motion control in robotic manipulation, where automatically generated feasible manipulation sequences are executed by a controller that explicitly accounts for the task geometric constraints. To cope with the high dimensionality of the manipulation problem and the complexity of specifying the tasks, we use a multi-layered framework for task and motion planning adapted from the literature. The adapted framework consists of a high-leveldoi:10.48011/asba.v2i1.1276 fatcat:vm3snhxktzhnblh2l7kuywyrfm