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BiSpace Planning: Concurrent Multi-Space Exploration
R. Diankov, N. Ratliff, D. Ferguson, S. Srinivasa, and J. Kuffner
Robotics: Science and Systems, June, 2008.

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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’s 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.

Associated centers: VASC, MRTC, SRI, CFR, and FRC
Associated labs/groups: Manipulation Lab, Human-Robot Interaction Group, Planning and Autonomy Lab, and Human Sensing
Associated projects: Quality of Life Technology Center, Planning for Manipulation, and Active Home/Personal Robotics

R. Diankov, N. Ratliff, D. Ferguson, S. Srinivasa, and J. Kuffner, "BiSpace Planning: Concurrent Multi-Space Exploration," Robotics: Science and Systems, June, 2008.

@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"
}