Publications

Under Review

  • Francesco Grothe, Valentin N. Hartmann, Andreas Orthey, Marc Toussaint, ST-RRT*: Asymptotically-Optimal Bidirectional Motion Planning through Space-Time, 2021

  • Valentin N. Hartmann, Andreas Orthey, Danny Driess, Ozgur S. Oguz, Marc Toussaint, Long-Horizon Multi-Robot Rearrangement Planning for Construction Assembly, arXiv:2106.02489 [cs.RO], 2021, [PDF-preprint] [Bibtex]

  • Andreas Orthey, Sohaib Akbar, Marc Toussaint, Multilevel Motion Planning: A Fiber Bundle Formulation, arXiv:2007.09435 [cs.RO], 2020, [PDF-preprint] [Bibtex]

All Publications (Peer-Reviewed)

Journals and Book Chapters

  • Constantinos Chamzas, Carlos Quintero-Peña, Zachary Kingston, Andreas Orthey, Daniel Rakita, Michael Gleicher, Lydia E. Kavraki, MotionBenchMaker: A Tool to Generate and Benchmark Motion Planning Datasets, Robotics and Automation Letters (RA-L), 2022, [PDF] [Bibtex] [Code] [Video]

  • Andreas Orthey, Marc Toussaint, Section Patterns: Efficiently Solving Narrow Passage Problems in Multilevel Motion Planning, Transactions on Robotics (TRO), 2021, [PDF-preprint] [Bibtex] [Video Presentation at IROS]

  • Andreas Orthey, Marc Toussaint, Visualizing Local Minima in Multi-Robot Motion Planning using Multilevel Morse Theory, WAFR 2020: Algorithmic Foundations of Robotics XIV (Springer Proceedings in Advanced Robotics), 2021, [PDF] [Video] [Bibtex]

  • Andreas Orthey, Benjamin Frész, Marc Toussaint, Motion Planning Explorer: Visualizing Local Minima using a Local-Minima Tree, Robotics and Automation Letters (RA-L), 2020, Selected for presentation at ICRA 2020 [PDF] [Presentation Video] [Bibtex]

  • Andreas Orthey, Olivier Roussel, Olivier Stasse, Michel Taïx, Motion Planning in Irreducible Path Spaces, Robotics and Autonomous Systems, 2018, [PDF] [Bibtex]

  • Dov Katz, Andreas Orthey, Oliver Brock, Interactive perception of articulated objects, Experimental Robotics (Springer Tracts in Advanced Robotics), 301-315, 2014, [PDF] [Bibtex]

Conferences

  • Marie-Therese Khoury, Andreas Orthey, Marc Toussaint, Efficient Sampling of Transition Constraints for Motion Planning under Sliding Contacts, IEEE International Conference on Automation Science and Engineering (CASE), 2021, [PDF] [Bibtex]

  • Andreas Orthey, Marc Toussaint, Sparse Multilevel Roadmaps for High-Dimensional Robot Motion Planning, International Conference on Robotics and Automation (ICRA), 2021, [PDF] [BlogPost] [Bibtex]

  • Andreas Orthey, Marc Toussaint, Rapidly-Exploring Quotient-Space Trees: Motion Planning using Sequential Simplifications, International Symposium on Robotics Research (ISRR), 2019, [PDF] [Bibtex]

  • Andreas Orthey, Adrien Escande, Eiichi Yoshida, Quotient-Space Motion Planning, International Conference on Intelligent Robots and Systems (IROS), 2018, [PDF] [Bibtex]

  • Andreas Orthey, Olivier Stasse, Florent Lamiraux, Motion Planning and Irreducible Trajectories, International Conference on Robotics and Automation (ICRA), 2015, [PDF] [VIDEO] [Bibtex]

  • Olivier Stasse, Andreas Orthey, Francesco Morsillo, Mathieu Geisert, Nicolas Mansard, Maximilien Naveau, Christian Vassallo, Airbus/future of aircraft factory HRP-2 as universal worker proof of concept, IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2014, [PDF] [VIDEO] [Bibtex]

  • Andreas Orthey, Olivier Stasse, Towards reactive whole-body motion planning in cluttered environments by precomputing feasible motion spaces, IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2013, [PDF] [VIDEO] [Bibtex]

  • Andreas Orthey, Marc Toussaint, Nicolay Jetchev, Optimizing Motion Primitives to Make Symbolic Models More Predictive, International Conference on Robotics and Automation (ICRA), 2013, [PDF] [Bibtex]

Workshops

  • Andreas Orthey, Florian T. Pokorny, Marc Toussaint, Approximate Topological Optimization using Multi-Mode Estimation for Robot Motion Planning, RSS Workshop on Geometry and Topology in Robotics, 2021, [PDF] [Video] [Bibtex]

Theses and Theses Supervised

  • Marie Therese Khoury, Efficient Sampling of Transition Constraints for Motion Planning under Sliding Contacts, B.Sc. Thesis, University of Stuttgart, 2020

  • Alexander Harner, Verfahren zur Optimierung und Ermittlung von lokalen Minima in Probabilistic Roadmaps (Method to Optimize and Enumerate Local Minima in Probabilistic Roadmaps) , B.Sc. Thesis, University of Stuttgart, 2020

  • Azer Messaoudi, An Optimization Algorithm for Dynamical Systems under Non-holonomic Constraints, B.Sc. Thesis, University of Stuttgart, 2020

  • Sohaib Akbar, Sparse and Optimal Planning Algorithms for Multilevel Motion Planning, M.Sc. Thesis, University of Stuttgart, 2020

  • Benjamin Frész, Visualization of Holonomic and Non-Holonomic Planning Problems, B.Sc. Thesis, University of Stuttgart, 2019

  • Andreas Orthey, Exploiting structure in humanoid motion planning, Ph.D Thesis, INP Toulouse, 2015, [PDF] [VIDEO]

  • Andreas Orthey, Optimizing Motion Primitives to Integrate Symbolic and Motion Planning, M.Sc. Thesis, Berlin Institute of Technology, 2012, [PDF]

  • Andreas Orthey, Three dimensional Joint Detection, B.Sc. Thesis, Berlin Institute of Technology, 2010, [PDF]

Miscellaneous Publications (Not Peer-Reviewed)