BiSpace Planning: Concurrent Multi-Space Exploration

  title={BiSpace Planning: Concurrent Multi-Space Exploration},
  author={Rosen Diankov and Nathan D. Ratliff and Dave Ferguson and Siddhartha S. Srinivasa and James J. Kuffner},
  booktitle={Robotics: Science and Systems},
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… CONTINUE READING
Highly Cited
This paper has 109 citations. REVIEW CITATIONS


Publications citing this paper.
Showing 1-10 of 70 extracted citations

110 Citations

Citations per Year
Semantic Scholar estimates that this publication has 110 citations based on the available data.

See our FAQ for additional information.


Publications referenced by this paper.
Showing 1-10 of 14 references

Similar Papers

Loading similar papers…