BiSpace Planning: Concurrent Multi-Space Exploration

@inproceedings{Diankov2008BiSpacePC,
  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},
  year={2008}
}
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
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