Publications

Journals and Book Chapters

[11] A Orthey, S Akbar, M Toussaint, Multilevel Motion Planning: A Fiber Bundle Formulation, The International Journal of Robotics Research, 2024

PDF arXiv

@article{Orthey2024IJRR,
  title = {Multilevel Motion Planning: A Fiber Bundle Formulation},
  author = {Orthey, Andreas and Akbar, Sohaib and Toussaint, Marc},
  year = {2024},
  journal = {The International Journal of Robotics Research},
  volume = {43},
  number = {1},
  pages = {3--33},
  doi = {10.1177/02783649231209337},
  url = {https://doi.org/10.1177/02783649231209337},
  arxiv = {https://arxiv.org/abs/2007.09435},
}

[10] A Orthey, C Chamzas, LE Kavraki, Sampling-Based Motion Planning: A Comparative Review, Annual Review of Control, Robotics, and Autonomous Systems, 2024

PDF arXiv

@article{Orthey2023AnnualReview,
  author = {Orthey, Andreas and Chamzas, Constantinos and Kavraki, Lydia E.},
  title = {Sampling-Based Motion Planning: A Comparative Review},
  journal = {Annual Review of Control, Robotics, and Autonomous Systems},
  volume = {7},
  number = {1},
  year = {2024},
  pages = {285--310},
  doi = {10.1146/annurev-control-061623-094742},
  url = {https://doi.org/10.1146/annurev-control-061623-094742},
  arxiv = {https://arxiv.org/abs/2309.13119},
}

[9] SB Bayraktar, A Orthey, Z Kingston, M Toussaint, LE Kavraki, Solving Rearrangement Puzzles using Path Defragmentation in Factored State Spaces, IEEE Robotics and Automation Letters, 2023

PDF YouTube arXiv

@article{Bayraktar2023RAL,
  title = {Solving Rearrangement Puzzles using Path Defragmentation in Factored State Spaces},
  author = {Bayraktar, Servet B. and Orthey, Andreas and Kingston, Zachary and Toussaint, Marc and Kavraki, Lydia E.},
  year = {2023},
  journal = {IEEE Robotics and Automation Letters},
  volume = {8},
  number = {8},
  pages = {4529--4536},
  youtube = {Q-meni-gESI},
  arxiv = {https://arxiv.org/abs/2212.02955},
}

[8] C Phiquepal, A Orthey, N Viennot, M Toussaint, Path-Tree Optimization in Discrete Partially Observable Environments using Rapidly-Exploring Belief-Space Graphs, IEEE Robotics and Automation Letters, 2022

PDF arXiv

@article{Phiquepal2022RAL,
  title = {Path-Tree Optimization in Discrete Partially Observable Environments using Rapidly-Exploring Belief-Space Graphs},
  author = {Phiquepal, Camille and Orthey, Andreas and Viennot, Nicolas and Toussaint, Marc},
  journal = {IEEE Robotics and Automation Letters},
  year = {2022},
  volume = {7},
  pages = {10160--10167},
  arxiv = {https://arxiv.org/abs/2204.04444},
}

[7] C Chamzas, C Quintero-Peña, Z Kingston, A Orthey, D Rakita, M Gleicher, M Toussaint, L E. Kavraki, MotionBenchMaker: A Tool to Generate and Benchmark Motion Planning Datasets, IEEE Robotics and Automation Letters, 2022

PDF YouTube Website

@article{Chamzas2022RAL,
  title = {MotionBenchMaker: A Tool to Generate and Benchmark Motion Planning Datasets},
  volume = {7},
  number = {2},
  pages = {882--889},
  issn = {2377-3766},
  doi = {10.1109/LRA.2021.3133603},
  youtube = {ggRmKPt7IP8},
  web = {https://github.com/KavrakiLab/motion_bench_maker},
  journal = {IEEE Robotics and Automation Letters},
  publisher = {Institute of Electrical and Electronics Engineers (IEEE)},
  author = {Chamzas, Constantinos and Quintero-Pe{\~n}a, Carlos and Kingston, Zachary and Orthey, Andreas and Rakita, Daniel and Gleicher, Michael and Toussaint, Marc and E. Kavraki, Lydia},
  year = {2022},
  month = {apr},
  url = {https://dx.doi.org/10.1109/LRA.2021.3133603},
  month_numeric = {4},
}

[6] A Orthey, M Toussaint, Rapidly-Exploring Quotient-Space Trees: Motion Planning Using Sequential Simplifications, Robotics Research, 2022

PDF arXiv

@incollection{Orthey2019ISRR,
  author = {Orthey, Andreas and Toussaint, Marc},
  editor = {Asfour, Tamim and Yoshida, Eiichi and Park, Jaeheung and Christensen, Henrik and Khatib, Oussama},
  title = {Rapidly-Exploring Quotient-Space Trees: Motion Planning Using Sequential Simplifications},
  booktitle = {Robotics Research},
  year = {2022},
  publisher = {Springer International Publishing},
  address = {Cham},
  pages = {52--68},
  arxiv = {https://arxiv.org/abs/1906.01350},
}

[5] A Orthey, M Toussaint, Section Patterns: Efficiently Solving Narrow Passage Problems in Multilevel Motion Planning, IEEE Transactions on Robotics, 2021

PDF YouTube arXiv

@article{Orthey2021TRO,
  title = {Section Patterns: Efficiently Solving Narrow Passage Problems in Multilevel Motion Planning},
  author = {Orthey, Andreas and Toussaint, Marc},
  journal = {IEEE Transactions on Robotics},
  year = {2021},
  volume = {37},
  pages = {1891--1905},
  arxiv = {https://arxiv.org/abs/2010.14524},
  youtube = {xKGkJc-m2FM},
}

[4] VN Hartmann, A Orthey, D Driess, OS Oguz, M Toussaint, Long-Horizon Multi-Robot Rearrangement Planning for Construction Assembly, IEEE Transactions on Robotics, 2021

PDF YouTube Website arXiv

@article{Hartmann2021TRO,
  title = {Long-Horizon Multi-Robot Rearrangement Planning for Construction Assembly},
  author = {Hartmann, Valentin N. and Orthey, Andreas and Driess, Danny and Oguz, Ozgur S. and Toussaint, Marc},
  journal = {IEEE Transactions on Robotics},
  youtube = {GqhouvL5dig},
  web = {https://vhartmann.com/multi-robot/},
  year = {2021},
  volume = {39},
  number = {1},
  pages = {239--252},
  arxiv = {https://arxiv.org/abs/2106.02489},
}

[3] A Orthey, M Toussaint, Visualizing Local Minima in Multi-robot Motion Planning Using Multilevel Morse Theory, Algorithmic Foundations of Robotics XIV, 2021

PDF arXiv

@incollection{Orthey2020WAFR,
  author = {Orthey, Andreas and Toussaint, Marc},
  editor = {LaValle, Steven M. and Lin, Ming and Ojala, Timo and Shell, Dylan and Yu, Jingjin},
  title = {Visualizing Local Minima in Multi-robot Motion Planning Using Multilevel Morse Theory},
  booktitle = {Algorithmic Foundations of Robotics XIV},
  year = {2021},
  publisher = {Springer International Publishing},
  address = {Cham},
  pages = {502--517},
  isbn = {978-3-030-66723-},
  arxiv = {https://arxiv.org/abs/2002.04385},
}

[2] A Orthey, B Frész, M Toussaint, Motion Planning Explorer: Visualizing Local Minima Using a Local-Minima Tree, IEEE Robotics and Automation Letters, 2020

PDF YouTube Code arXiv

@article{Orthey2020RAL,
  title = {Motion Planning Explorer: Visualizing Local Minima Using a Local-Minima Tree},
  author = {Orthey, Andreas and Fr{\'e}sz, Benjamin and Toussaint, Marc},
  journal = {IEEE Robotics and Automation Letters},
  month = {apr},
  year = {2020},
  volume = {5},
  number = {2},
  pages = {346--353},
  youtube = {1fyiB8pszVo},
  code = {https://github.com/aorthey/MotionExplorer},
  arxiv = {https://arxiv.org/abs/1909.05035},
  month_numeric = {4},
}

[1] A Orthey, O Roussel, O Stasse, M Taïx, Motion Planning in Irreducible Path Spaces, IEEE Robotics and Autonomous Systems, 2018

PDF arXiv

@article{Orthey2018RAS,
  author = {Orthey, Andreas and Roussel, Olivier and Stasse, Olivier and Ta{\"i}x, Michel},
  title = {Motion Planning in Irreducible Path Spaces},
  journal = {IEEE Robotics and Autonomous Systems},
  volume = {109},
  pages = {97--108},
  year = {2018},
  arxiv = {https://arxiv.org/abs/1809.05322},
}

Conference Proceedings

[13] LJ Droß, A Orthey, M Toussaint, PhyRoGen: Synthetic Generation of Physical Robot Manipulation Puzzles Using Procedural Content Generation, IEEE International Conference on Automation Science and Engineering, 2026

PDF Website arXiv

@inproceedings{Dross2026CASE,
  author = {Droß, Lennart Julian and Orthey, Andreas and Toussaint, Marc},
  title = {PhyRoGen: Synthetic Generation of Physical Robot Manipulation Puzzles Using Procedural Content Generation},
  booktitle = {IEEE International Conference on Automation Science and Engineering},
  year = {2026},
  arxiv = {https://arxiv.org/abs/2606.06569},
  web = {https://sites.google.com/view/robot-manipulation-puzzles},
}

[12] SB Bayraktar, A Orthey, M Toussaint, Scale-Invariant Sampling in Multi-Arm Bandit Motion Planning for Object Extraction, World Symposium on the Algorithmic Foundations of Robotics, 2026

PDF arXiv

@inproceedings{Bayraktar2026WAFR,
  author = {Bayraktar, Servet B. and Orthey, Andreas and Toussaint, Marc},
  title = {Scale-Invariant Sampling in Multi-Arm Bandit Motion Planning for Object Extraction},
  booktitle = {World Symposium on the Algorithmic Foundations of Robotics},
  year = {2026},
  arxiv = {http://arxiv.org/abs/2604.14026},
}

[11] JE Freund, C Phiquepal, A Orthey, M Toussaint, Camera-Based Belief Space Planning in Discrete Partially-Observable Domains, IEEE International Conference on Intelligent Robots and Systems, 2024

PDF

@inproceedings{Freund2024IROS,
  author = {Freund, Janis Eric and Phiquepal, Camille and Orthey, Andreas and Toussaint, Marc},
  booktitle = {IEEE International Conference on Intelligent Robots and Systems},
  title = {Camera-Based Belief Space Planning in Discrete Partially-Observable Domains},
  year = {2024},
  volume = {},
  number = {},
  pages = {9953--9959},
}

[10] J Kamat, J Ortiz-Haro, M Toussaint, FT Pokorny, A Orthey, BITKOMO: Combining Sampling and Optimization for Fast Convergence in Optimal Motion Planning, IEEE International Conference on Intelligent Robots and Systems, 2022

PDF YouTube arXiv

@inproceedings{Kamat2022IROS,
  title = {BITKOMO: Combining Sampling and Optimization for Fast Convergence in Optimal Motion Planning},
  author = {Kamat, Jay and Ortiz-Haro, Joaquim and Toussaint, Marc and Pokorny, Florian T and Orthey, Andreas},
  booktitle = {IEEE International Conference on Intelligent Robots and Systems},
  year = {2022},
  pages = {4492--4497},
  arxiv = {https://arxiv.org/abs/2203.01751},
  youtube = {RKpnYF5zBOQ},
}

[9] F Grothe, VN Hartmann, A Orthey, M Toussaint, ST-RRT*: Asymptotically-Optimal Bidirectional Motion Planning through Space-Time, IEEE International Conference on Robotics and Automation, 2022

PDF Website arXiv

@inproceedings{Grothe2022ICRA,
  title = {ST-RRT*: Asymptotically-Optimal Bidirectional Motion Planning through Space-Time},
  author = {Grothe, Francesco and Hartmann, Valentin N and Orthey, Andreas and Toussaint, Marc},
  booktitle = {IEEE International Conference on Robotics and Automation},
  year = {2022},
  pages = {3314--3320},
  arxiv = {https://arxiv.org/abs/2203.02176},
  web = {https://vhartmann.com/strrt/},
}

[8] A Orthey, M Toussaint, Sparse Multilevel Roadmaps for High-Dimensional Robot Motion Planning, IEEE International Conference on Robotics and Automation, 2021

PDF YouTube arXiv

@inproceedings{Orthey2021ICRA,
  title = {Sparse Multilevel Roadmaps for High-Dimensional Robot Motion Planning},
  author = {Orthey, Andreas and Toussaint, Marc},
  booktitle = {IEEE International Conference on Robotics and Automation},
  year = {2021},
  pages = {7851--7857},
  arxiv = {https://arxiv.org/abs/2011.00832},
  youtube = {ojJ7RjZMexc},
}

[7] MT Khoury, A Orthey, M Toussaint, Efficient Sampling of Transition Constraints for Motion Planning under Sliding Contacts, IEEE International Conference on Automation Science and Engineering, 2021

PDF arXiv

@inproceedings{Khoury2021CASE,
  title = {Efficient Sampling of Transition Constraints for Motion Planning under Sliding Contacts},
  author = {Khoury, Marie-Therese and Orthey, Andreas and Toussaint, Marc},
  year = {2021},
  pages = {1547--1553},
  booktitle = {IEEE International Conference on Automation Science and Engineering},
  organization = {IEEE},
  arxiv = {https://arxiv.org/abs/2011.01552},
}

[6] A Orthey, A Escande, E Yoshida, Quotient-Space Motion Planning, IEEE International Conference on Intelligent Robots and Systems, 2018

PDF arXiv

@inproceedings{Orthey2018IROS,
  title = {Quotient-Space Motion Planning},
  author = {Orthey, Andreas and Escande, Adrien and Yoshida, Eiichi},
  pages = {8089--8096},
  booktitle = {IEEE International Conference on Intelligent Robots and Systems},
  year = {2018},
  arxiv = {https://arxiv.org/abs/1807.09468},
}

[5] A Orthey, F Lamiraux, O Stasse, Motion Planning and Irreducible Trajectories, IEEE International Conference on Robotics and Automation, 2015

PDF YouTube Code

@inproceedings{Orthey2015,
  title = {Motion Planning and Irreducible Trajectories},
  author = {Orthey, Andreas and Lamiraux, Florent and Stasse, Olivier},
  booktitle = {IEEE International Conference on Robotics and Automation},
  pages = {3576--3581},
  year = {2015},
  code = {https://github.com/aorthey/irreducible-curvature-projection},
  youtube = {YXXN3TsvcHE},
}

[4] O Stasse, F Morsillo, M Geisert, N Mansard, M Naveau, C Vassallo, Airbus/future of aircraft factory HRP-2 as universal worker proof of concept, IEEE International Conference on Humanoid Robots, 2014

PDF YouTube

@inproceedings{Stasse2014,
  title = {Airbus/future of aircraft factory HRP-2 as universal worker proof of concept},
  author = {Stasse, Olivier and Morsillo, F and Geisert, Mathieu and Mansard, Nicolas and Naveau, Maximilien and Vassallo, Christian},
  booktitle = {IEEE International Conference on Humanoid Robots},
  pages = {1014--1015},
  year = {2014},
  organization = {IEEE},
  youtube = {iFV-13XlJvI},
}

[3] D Katz, A Orthey, O Brock, Interactive perception of articulated objects, Experimental Robotics, 2014

PDF

@inproceedings{Katz2014,
  title = {Interactive perception of articulated objects},
  author = {Katz, Dov and Orthey, Andreas and Brock, Oliver},
  booktitle = {Experimental Robotics},
  pages = {301--315},
  year = {2014},
  organization = {Springer},
}

[2] A Orthey, M Toussaint, N Jetchev, Optimizing motion primitives to make symbolic models more predictive, IEEE International Conference on Robotics and Automation, 2013

PDF

@inproceedings{Orthey2013ICRA,
  title = {Optimizing motion primitives to make symbolic models more predictive},
  author = {Orthey, Andreas and Toussaint, Marc and Jetchev, Nikolay},
  booktitle = {IEEE International Conference on Robotics and Automation},
  pages = {2868--2873},
  year = {2013},
  organization = {IEEE},
}

[1] A Orthey, O Stasse, Towards reactive whole-body motion planning in cluttered environments by precomputing feasible motion spaces, IEEE International Conference on Humanoid Robots, 2013

PDF YouTube

@inproceedings{Orthey2013Humanoids,
  title = {Towards reactive whole-body motion planning in cluttered environments by precomputing feasible motion spaces},
  author = {Orthey, Andreas and Stasse, Olivier},
  booktitle = {IEEE International Conference on Humanoid Robots},
  pages = {274--279},
  year = {2013},
  organization = {IEEE},
  youtube = {moAXBesmL8A},
}

Workshop Papers

[1] A Orthey, FT Pokorny, M Toussaint, Approximate Topological Optimization using Multi-Mode Estimation for Robot Motion Planning, RSS Workshop on Geometry and Topology in Robotics, 2021

PDF YouTube arXiv

@misc{Orthey2021RSSws,
  title = {Approximate Topological Optimization using Multi-Mode Estimation for Robot Motion Planning},
  author = {Orthey, Andreas and Pokorny, Florian T. and Toussaint, Marc},
  year = {2021},
  howpublished = {RSS Workshop on Geometry and Topology in Robotics},
  youtube = {xsXysnNwn9k},
  arxiv = {https://arxiv.org/abs/2107.02498},
}

Theses

[3] A Orthey, Exploiting structure in humanoid motion planning, National Polytechnic Institute of Toulouse, 2015

PDF YouTube

@phdthesis{Orthey2015Thesis,
  title = {Exploiting structure in humanoid motion planning},
  school = {National Polytechnic Institute of Toulouse},
  author = {Orthey, Andreas},
  youtube = {wFxxQ1HLY1A},
  year = {2015},
}

[2] A Orthey, Optimizing Motion Primitives to Integrate Symbolic and Motion Planning, Berlin University of Technology, 2012

PDF

@masterthesis{Orthey2012Msc,
  author = {Orthey, Andreas},
  institution = {Berlin University of Technology},
  school = {Berlin University of Technology},
  title = {Optimizing Motion Primitives to Integrate Symbolic and Motion Planning},
  year = {2012},
}

[1] A Orthey, Three dimensional Joint Detection, Berlin University of Technology, 2012

PDF

@masterthesis{Orthey2011Bsc,
  author = {Orthey, Andreas},
  institution = {Berlin University of Technology},
  school = {Berlin University of Technology},
  title = {Three dimensional Joint Detection},
  year = {2012},
}

Supervised Student Theses

[19] Franz Queißner, Kinodynamic Planning in Space-Time for Dynamic Environments, M.Sc. Thesis, Technische Universität Berlin, 2026 (Expected)
[18] Ladislaus Finger, Grasping and Motion Planning for Disassembly with Parallel Grippers, M.Sc. Thesis, Technische Universität Berlin, 2026 (Expected)
[17] Jakob Schlanstedt, Active Interconnection for Disassembly Tasks, B.Sc. Thesis, Technische Universität Berlin, 2026 (Expected)
[16] Niklas Hargus, Temporal Multi-Robot Task and Motion Planning for Mechanical Disassembly Tasks, M.Sc. Thesis, Technische Universität Berlin, 2026
[15] Servet Bora Bayraktar, Geometric Multi-Part Disassembly using Bandit-Driven Efficient Sphere Sampling, M.Sc. Thesis, Technische Universität Berlin, 2026
[14] Lennart Julian Droß, Synthetic Datasets for Robot Manipulation Tasks using Procedural Content Generation, B.Sc. Thesis, Technische Universität Berlin, 2025
[13] Theo Valentin Kern, Rearrangement Planning for Construction Assembly using Teams of Multirotors, M.Sc. Thesis, Technische Universität Berlin, 2023
[12] Andrey Solano, Real-Time Multi-Robot Motion Planning using Decomposed Sampling-Based Methods, M.Sc. Thesis, KTH Royal Institute of Technology, 2023
[11] Janis Eric Freund, Asymptotically Optimal Belief Space Planning, M.Sc. Thesis, Technische Universität Berlin, 2023
[10] Servet Bora Bayraktar, Solving Rearrangement Puzzles Optimally using Fragmentation-Based Motion Planning, B.Sc. Thesis, Technische Universität Berlin, 2022
[9] Ilyes Toumi, Real-Time Task and Motion Planning for Dual-Arm Robots in a Bin-Picking Application, M.Sc. Thesis, RWTH Aachen University, 2022
[8] Jay Prabodh Kamat, Multimodal Optimization for Manipulation Tasks, M.Sc. Thesis, Birla Institute of Technology and Science, 2022
[7] Noran Abdelsalam, Assembly Sequence Planning of Architectural Structures, B.Sc. Thesis, Technische Universität Berlin, 2021
[6] Francesco Grothe, Bidirectional Tree Search Through Space-Time for Prioritized Multi-Robot Planning, B.Sc. Thesis, Technische Universität Berlin, 2021
[5] Marie-Therese Khoury, Efficient Sampling of Transition Constraints for Motion Planning under Sliding Contacts, B.Sc. Thesis, Universität Stuttgart, 2020
[4] Alexander Harner, Method to Optimize and Enumerate Local Minima in Probabilistic Roadmaps, B.Sc. Thesis, Universität Stuttgart, 2020
[3] Azer Messaoudi, An Optimization Algorithm for Dynamical Systems under Non-holonomic Constraints, B.Sc. Thesis, Universität Stuttgart, 2020
[2] Sohaib Akbar, Sparse and Optimal Planning Algorithms for Multilevel Motion Planning, M.Sc. Thesis, Universität Stuttgart, 2020
[1] Benjamin Frész, Visualization of Holonomic and Non-Holonomic Planning Problems, B.Sc. Thesis, Universität Stuttgart, 2019