Robotics: Science and Systems IV

BiSpace Planning: Concurrent Multi-Space Exploration

Rosen Diankov, Nathan Ratliff, Dave Ferguson, Siddhartha Srinivasa, James Kuffner

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'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 high-dimensional spaces. In general, the BiSpace planner is applicable to any problem involving multiple search spaces.

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Bibtex:

@INPROCEEDINGS{Diankov-RSS08,
    AUTHOR    = {Rosen Diankov, Nathan Ratliff, Dave Ferguson, Siddhartha Srinivasa, James Kuffner},
    TITLE     = {BiSpace Planning: Concurrent Multi-Space Exploration},
    BOOKTITLE = {Proceedings of Robotics: Science and Systems IV},
    YEAR      = {2008},
    ADDRESS   = {Zurich, Switzerland},
    MONTH     = {June},
    DOI       = {10.15607/RSS.2008.IV.021} 
}