Publications
Under Review
Andrey Solano, Arne Sieverling, Robert Gieselmann, Andreas Orthey, Fast-dRRT*: Efficient Multi-Robot Motion Planning for Automated Industrial Manufacturing, arXiv:2309.10665 [cs.RO], [PDF-preprint]
Ilyes Toumi, Andreas Orthey, and Ngo Anh Vien, Multi-Arm Bin-Picking in Real-Time: A Combined Task and Motion Planning Approach, arXiv:2211.11089 [cs.RO], [PDF-preprint]
All Publications (Peer-Reviewed)
Journals and Book Chapters
Andreas Orthey, Constantinos Chamzas, Lydia E. Kavraki, Sampling-Based Motion Planning: A Comparative Review, Annual Review of Control, Robotics, and Autonomous Systems, 2024, [PDF-preprint] [Bibtex]
Andreas Orthey, Sohaib Akbar, Marc Toussaint, Multilevel Motion Planning: A Fiber Bundle Formulation, International Journal of Robotics Research (IJRR), 2023, [PDF-preprint] [Bibtex]
Servet B. Bayraktar, Andreas Orthey, Zachary Kingston, Marc Toussaint, Lydia E. Kavraki, Solving Rearrangement Puzzles using Path Defragmentation in Factored State Spaces, Robotics and Automation Letters (RA-L), 2023, [PDF] [Bibtex]
Camille Phiquepal, Andreas Orthey, Nicolas Viennot, Marc Toussaint, Path-Tree Optimization in Discrete Partially Observable Environments using Rapidly-Exploring Belief-Space Graphs, Robotics and Automation Letters (RA-L), 2022, Selected for presentation at IROS 2022 [PDF] [Bibtex]
Valentin N. Hartmann, Andreas Orthey, Danny Driess, Ozgur S. Oguz, Marc Toussaint, Long-Horizon Multi-Robot Rearrangement Planning for Construction Assembly, Transactions on Robotics (TRO), 2022, Selected for presentation at ICRA 2023 [PDF] [Bibtex]
Constantinos Chamzas, Carlos Quintero-Peña, Zachary Kingston, Andreas Orthey, Daniel Rakita, Michael Gleicher, Marc Toussaint, 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] [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
Janis Eric Freund, Camille Phiquepal, Andreas Orthey, Marc Toussaint, Asymptotically Optimal Belief Space Planning in Discrete Partially-Observable Domains, International Conference on Intelligent Robots and Systems (IROS), 2024, [PDF]
Jay Kamat, Joaquim Ortiz-Haro, Marc Toussaint, Florian T. Pokorny, Andreas Orthey, BITKOMO: Combining Sampling and Optimization for Fast Convergence in Optimal Motion Planning, International Conference on Intelligent Robots and Systems (IROS), 2022, [PDF] [Bibtex]
Francesco Grothe, Valentin N. Hartmann, Andreas Orthey, Marc Toussaint, ST-RRT*: Asymptotically-Optimal Bidirectional Motion Planning through Space-Time, International Conference on Robotics and Automation (ICRA), 2022, [PDF] [Bibtex]
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
Theo Valentin Kern, Rearrangement Planning for Construction Assembly using Teams of Multirotors, M.Sc. Thesis, TU Berlin, 2023 (with Wolfgang Hönig)
Andrey Solano, Real-Time Multi-Robot Motion Planning using Decomposed Sampling-Based Methods, M.Sc. Thesis, KTH Stockholm, 2023 (with Arne Sieverling)
Janis Eric Freund, Asymptotically Optimal Belief Space Planning, M.Sc. Thesis, TU Berlin, 2023 (with Camille Phiquepal)
Servet Bora Bayraktar, Solving Rearrangement Puzzles Optimally using Fragmentation-Based Motion Planning, B.Sc. Thesis, TU Berlin, 2022
Ilyes Toumi, Real-time task and motion planning for Dual-arm robotic in a bin-picking application, M.Sc. Thesis, RWTH Aachen, 2022 (with Ngo Anh Vien)
Jay Prabodh Kamat, Multimodal Opimization for Manipulation Tasks, BITS Pilani, 2021 (with Joaquim Ortiz-Haro)
Francesco Grothe, Bidirectional tree search through space-time for prioritized multi-robot planning, B.Sc. Thesis, TU Berlin, 2021 (with Valentin N. Hartmann)
Noran Abdelsalam, Assembly Sequence Planning for Structures, B.Sc. Thesis, TU Berlin, 2021 (with Valentin N. Hartmann and Ozgur S. Oguz)
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]