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    • An incremental constraint-based framework for task and motion planning 

      Dantam, Neil T.; Kingston, Zachary K.; Chaudhuri, Swarat; Kavraki, Lydia E. (2018)
      We present a new constraint-based framework for task and motion planning (TMP). Our approach is extensible, probabilistically complete, and offers improved performance and generality compared with a similar, state-of-the-art ...