According to the research paper Parallel process decomposition of a dynamic manipulation task: robotic sewing (D. Gershon, DOI: 10.1109/70.56654):
Abstract - ... The task planner approach, as promoted by the Al community, is unsuited to tasks involving interaction with a dynamic environment. ....
... ... ...
Task planning is essentially an off-line activity, based on a "snap-shot" of the world, and is therefore incompati- ble with dynamic tasks and environments. Task planners re- quire a single model of the world, whereas different models may be appropriate for different objectives, e.g., an octree representation is efficient for obstacle avoidance, whereas a RAPT-style model [36] is better suited to planning compliant motion tasks. Attempts to develop experimental task planner systems revealed additional difficulties, such as image under- standing, sensor fusion, error recovery, and the potential for catastrophic failures [29].... ..... ..... ....Many control schemes, such as adaptive control [15], [27] and sliding-mode control [41], can accommodate bounded uncertainties in the model of the controlled system. However, these controllers are not generally robust to disturbances generated by a dynamic interacting environment.
Now, Multi-arm robot control system for manipulation of flexible materials in sewing operation seems to be implementing a multi-arm robot system on the basis of "Task Planning" approach. And, this paper implemented a robot system using adaptive control.
So, what is the catch here? Why does the 1st article say that use of task planning and adaptive control aren't possible in case of dynamic tasks?