56 citations · 64 across the 11 of their papers we have counts for
5 papers · 2 filters
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…
Sparse Multilevel Roadmaps for High-Dimensional Robot Motion Planning
Andreas Orthey, Marc Toussaint
Sparse roadmaps are important to compactly represent state spaces, to determine problems to be infeasible and to terminate in finite time. However, sparse roadmaps do not scale wel…
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…
Multilevel Motion Planning: A Fiber Bundle Formulation
Andreas Orthey, Sohaib Akbar, Marc Toussaint
High-dimensional motion planning problems can often be solved significantly faster by using multilevel abstractions. While there are various ways to formally capture multilevel abs…
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…