Paper Title: Search-Based Planning for Manipulation with Motion Primitives

• Authors: Benjamin Cohen, Sachin Chitta and Maxim Likhachev
• Forum: ICRA 2010

Citation

@inproceedings {Cohen2010,
        title = {Search-Based Planning for Manipulation with Motion Primitives},
        booktitle = {International Conference on Robotics and Automation},
        series = {},
        year = {2010},
        author = {Benjamin Cohen and Sachin Chitta and Maxim Likhachev}
}

Full Text

http://www.seas.upenn.edu/~maximl/files/SBPlanningwithMotionPrims_icra10.pdf

Photos and Video Results

Example Video:

Documentation

This code is currently available as an add-on the arm navigation stack. Instructions on running this code in simulation are available from its Wiki page.