Atlas + X: Sampling-based Planners on Constraint Manifolds
Caleb Voss, Mark Moll, Lydia E. Kavraki · Rice Research Repository (Rice University) · 2017
Sampling-based planners struggle when the valid configurations are constrained to an implicit manifold. Special planners have been proposed for this problem recently. Our new framework is decoupled from any particular planner and augments existing algorithms not explicitly designed for constraint planning. We demonstrate the advantages of our generalized approach.