BiSpace Planning: Concurrent Multi-Space Exploration

Rosen Diankov, Nathan Ratliff, David Ferguson, Siddhartha Srinivasa and James Kuffner
Conference Paper, 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.


@conference{Diankov-2008-10004,
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},
year = {2008},
month = {June},
keywords = {mobile manipulation, motion planning, randomized planning},
} 2017-09-13T10:41:37-04:00