The Robotics Institute

Carnegie Mellon Robotics Institute

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract

We present a planning algorithm called BiSpace that produces fast plans to complex high-dimensional problems by simultaneously exploring multiple spaces. We specifically focus on finding robust solutions to manipulation and grasp planning problems by using BiSpace? special characteristics to explore the work and configuration spaces of the environment and robot. Furthermore, we present a number of techniques for constructing informed heuristics to intelligently search through these high-dimensional spaces. In general, the BiSpace planner is applicable to any problem involving multiple search spaces.

Keywords

mobile manipulation, motion planning, randomized planning

Notes

Associated Center(s) / Consortia: Vision and Autonomous Systems Center, Quality of Life Technology Center, National Robotics Engineering Center, and Center for the Foundations of Robotics

Associated Lab(s) / Group(s): Planning and Autonomy Lab, Personal Robotics, Manipulation Lab, Human-Robot Interaction Group

Associated Project(s): Planning for Manipulation and Quality of Life Technology

Text Reference

Rosen Diankov, Nathan Ratliff, David Ferguson, Siddhartha Srinivasa, and James Kuffner, "BiSpace Planning: Concurrent Multi-Space Exploration," Robotics: Science and Systems, June, 2008.

BibTeX Reference

@inproceedings{Diankov_2008_6081,
   author = "Rosen Diankov and Nathan Ratliff and David Ferguson and Siddhartha Srinivasa and James Kuffner",
   title = "BiSpace Planning: Concurrent Multi-Space Exploration",
   booktitle = "Robotics: Science and Systems",
   month = "June",
   year = "2008",
}

The Robotics Institute

Menu