Multi-modal Motion Planning in Non-expansive Spaces

  • Kris Hauser
  • Jean-Claude Latombe
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 57)


The motion planning problems encountered in manipulation and legged locomotion have a distinctive multi-modal structure, where the space of feasible configurations consists of overlapping submanifolds of different dimensionalities. Such a feasible space does not possess expansiveness, a property that characterizes whether planning queries can be solved with traditional sample-based planners.We present a new sample-based multi-modal planning algorithm and analyze its completeness properties. In particular, it converges quickly when each mode is expansive relative to the submanifold in which it is embedded. We also present a variant that has the same convergence properties, but works better for problems with a large number of modes by considering subsets that are likely to contain a solution path. These algorithms are demonstrated in a legged locomotion planner.




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Copyright information

© Springer-Verlag Berlin Heidelberg 2009

Authors and Affiliations

  • Kris Hauser
    • 1
  • Jean-Claude Latombe
    • 1
  1. 1.Department of Computer ScienceStanford UniversityStanford

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