Home/BiSpace Planning: Concurrent Multi-Space Exploration

BiSpace Planning: Concurrent Multi-Space Exploration

Rosen Diankov, Nathan Ratliff, David Ferguson, Siddhartha Srinivasa and James Kuffner
Conference Paper, Proceedings of Robotics: Science and Systems, June, 2008

View Publication

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.


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.

author = {Rosen Diankov and Nathan Ratliff and David Ferguson and Siddhartha Srinivasa and James Kuffner},
title = {BiSpace Planning: Concurrent Multi-Space Exploration},
booktitle = {Proceedings of Robotics: Science and Systems},
year = {2008},
month = {June},
keywords = {mobile manipulation, motion planning, randomized planning},
} 2017-09-13T10:41:37-04:00