Multi-modal motion planning in non-expansive spaces

Kris Hauser, Jean Claude Latombe

Research output: Chapter in Book/Report/Conference proceedingConference contribution


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.

Original languageEnglish (US)
Title of host publicationAlgorithmic Foundations of Robotics VIII - Selected Contributions of the Eighth International Workshop on the Algorithmic Foundations of Robotics
Number of pages16
StatePublished - Mar 29 2010
Externally publishedYes
Event8th International Workshop on the Algorithmic Foundations of Robotics, WAFR - Guanajuato, Mexico
Duration: Dec 7 2008Dec 9 2008

Publication series

NameSpringer Tracts in Advanced Robotics
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X


Other8th International Workshop on the Algorithmic Foundations of Robotics, WAFR

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence

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