Heuristic searches such as A* search are highly popular means of finding least-cost plans
due to their generality, strong theoretical guarantees on completeness and optimality and …

In this paper, we present a search-based motion planning algorithm for manipulation that
handles the high dimensionality of the problem and minimizes the limitations associated …

Heuristic searches such as the A* search are a popular means of finding least-cost plans
due to their generality, strong theoretical guarantees on completeness and optimality …

Many motion planning problems in robotics are high dimensional planning problems. While
sampling-based motion planning algorithms handle the high dimensionality very well, the …

We present a hierarchical planning system and its application to robotic manipulation. The
novel features of the system are: 1) it finds high-quality kinematic solutions to task-level …

When robots perform manipulation tasks, they need to determine their own movement, as
well as how to grasp and release an object. Reasoning about the motion of the robot and the …

Mobile manipulation planning is a hard problem composed of multiple challenging sub-
problems, some of which require searching through large high-dimensional state-spaces …

Manipulation problems involving many objects present substantial challenges for motion
planning algorithms due to the high dimensionality and multi-modality of the search space …

Gupta (1990) presented a sequential framework to develop practical motion planners for
manipulator arms with many degrees of freedom. The crux of this framework is to …

To address the need of a practical motion planner for manipulators, we present an efficient
and resolution-complete algorithm that has performance commensurate with task difficulty …