Sampling-Based Motion Planning on Sequenced Manifolds

@article{Englert2021SamplingBasedMP,
  title={Sampling-Based Motion Planning on Sequenced Manifolds},
  author={P{\'e}ter Englert and Isabel M. Rayas Fern'andez and Ragesh Kumar Ramachandran and Gaurav S. Sukhatme},
  journal={Robotics: Science and Systems XVII},
  year={2021}
}
We address the problem of planning robot motions in constrained configuration spaces where the constraints change throughout the motion. The problem is formulated as a fixed sequence of intersecting manifolds, which the robot needs to traverse in order to solve the task. We specify a class of sequential motion planning problems that fulfill a particular property of the change in the free configuration space when transitioning between manifolds. For this problem class, the algorithm Planning on… 
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