{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,12]],"date-time":"2026-08-12T13:04:22Z","timestamp":1786539862045,"version":"build-2736575974"},"reference-count":48,"publisher":"Frontiers Media SA","license":[{"start":{"date-parts":[[2021,5,19]],"date-time":"2021-05-19T00:00:00Z","timestamp":1621382400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/2.zoppoz.workers.dev:443\/https\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":["frontiersin.org"],"crossmark-restriction":true},"short-container-title":["Front. Robot. AI"],"abstract":"<jats:p>Combined Task and Motion Planning (TAMP) is an area where no one-fits-all solution can exist. Many aspects of the domain, as well as operational requirements, have an effect on how algorithms and representations are designed. Frequently, trade-offs have to be made to build a system that is effective. We propose five research questions that we believe need to be answered to solve real-world problems that involve combined TAMP. We show which decisions and trade-offs should be made with respect to these research questions, and illustrate these on examples of existing application domains. By doing so, this article aims to provide a guideline for designing combined TAMP solutions that are adequate and effective in the target scenario.<\/jats:p>","DOI":"10.3389\/frobt.2021.637888","type":"journal-article","created":{"date-parts":[[2021,5,19]],"date-time":"2021-05-19T06:01:15Z","timestamp":1621404075000},"update-policy":"https:\/\/2.zoppoz.workers.dev:443\/https\/doi.org\/10.3389\/crossmark-policy","source":"Crossref","is-referenced-by-count":29,"title":["Combining Task and Motion Planning: Challenges and Guidelines"],"prefix":"10.3389","volume":"8","author":[{"given":"Masoumeh","family":"Mansouri","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Federico","family":"Pecora","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Peter","family":"Sch\u00fcller","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1965","published-online":{"date-parts":[[2021,5,19]]},"reference":[{"key":"B1","doi-asserted-by":"publisher","first-page":"e20","DOI":"10.1017\/s0269888918000188","article-title":"A Review of Learning Planning Action Models","volume":"33","author":"Arora","year":"2018","journal-title":"Knowl. 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