BiSpace Planning: Concurrent Multi-Space Exploration

Rosen Diankov, Nathan Ratliff, David Ferguson , Siddhartha Srinivasa, and James Kuffner
Robotics: Science and Systems, June, 2008.


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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",
}