Resource Management in Task and Motion Planning

Task and motion planning has allowed us to bridge the gap between high-level
task planning and low-level motion planning. However, one aspect that is not getting
very much attention within this research area is resource management which plays an
essential role for autonomous robots with finite resources.
Different ways to preserve resources have been suggested such as taking routes that consume less energy, visiting customers in a sequence that does not violate a capacity constraint and
also the placement of a facility (e.g., recharging, refuelling, delivery stations).

Moreover, with the ever-increasing deployment of autonomous robots in the physical world, the need for resource management is very evident and can no longer be neglected. Solving this problem is inherently complex as we also need to consider geometric and differential constraints related to obstacle avoidance and robot dynamics in motion planning.