7 papers
Efficient Sampling of Transition Constraints for Motion Planning under Sliding Contacts
Marie-Therese Khoury, Andreas Orthey, Marc Toussaint
Contact-based motion planning for manipulation, object exploration or balancing often requires finding sequences of fixed and sliding contacts and planning the transition from one…
Section Patterns: Efficiently Solving Narrow Passage Problems in Multilevel Motion Planning
Andreas Orthey, Marc Toussaint
Sampling-based planning methods often become inefficient due to narrow passages. Narrow passages induce a higher runtime, because the chance to sample them becomes vanishingly smal…
Visualizing Local Minima in Multi-Robot Motion Planning using Multilevel Morse Theory
Andreas Orthey, Marc Toussaint
Multi-robot motion planning problems often have many local minima. It is essential to visualize those local minima such that we can better understand, debug and interact with multi…
Motion Planning Explorer: Visualizing Local Minima using a Local-Minima Tree
Andreas Orthey, Benjamin Frész, Marc Toussaint
Motion planning problems often have many local minima. Those minima are important to visualize to let a user guide, prevent or predict motions. Towards this goal, we develop the mo…
Rapidly-Exploring Quotient-Space Trees: Motion Planning using Sequential Simplifications
Andreas Orthey, Marc Toussaint
Motion planning problems can be simplified by admissible projections of the configuration space to sequences of lower-dimensional quotient-spaces, called sequential simplifications…
Motion Planning in Irreducible Path Spaces
Andreas Orthey, Olivier Roussel, Olivier Stasse +1
The motion of a mechanical system can be defined as a path through its configuration space. Computing such a path has a computational complexity scaling exponentially with the dime…