Publications

Journals and Book Chapters

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

BibTeX

@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},
}

PDF

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

BibTeX

@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},
}

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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

BibTeX

@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},
  pdf = {https://arxiv.org/pdf/2212.02955.pdf},
}

PDF

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

BibTeX

@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},
  pdf = {https://arxiv.org/pdf/2204.04444.pdf},
}

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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

BibTeX

@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},
}

PDF YouTube Website

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

BibTeX

@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},
}

PDF

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

BibTeX

@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},
  pdf = {https://arxiv.org/pdf/2010.14524.pdf},
  youtube = {xKGkJc-m2FM},
}

PDF YouTube

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

BibTeX

@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},
}

PDF YouTube Website

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

BibTeX

@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-},
}

PDF

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

BibTeX

@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},
  month_numeric = {4},
}

PDF YouTube Code

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

BibTeX

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

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Conference Proceedings

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

BibTeX

@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},
}

PDF

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

BibTeX

@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},
  pdf = {https://arxiv.org/pdf/2203.01751.pdf},
  youtube = {RKpnYF5zBOQ},
}

PDF YouTube

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

BibTeX

@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},
  pdf = {https://arxiv.org/pdf/2203.02176.pdf},
  web = {https://vhartmann.com/strrt/},
}

PDF Website

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

BibTeX

@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},
  pdf = {https://arxiv.org/pdf/2011.00832.pdf},
  youtube = {ojJ7RjZMexc},
}

PDF YouTube

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

BibTeX

@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},
}

PDF

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

BibTeX

@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},
}

PDF

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

BibTeX

@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},
}

PDF Code

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

BibTeX

@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},
}

PDF YouTube

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

BibTeX

@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},
}

PDF

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

BibTeX

@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},
}

PDF

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

BibTeX

@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},
}

PDF YouTube

Workshop Papers

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

BibTeX

@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},
}

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Theses

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

BibTeX

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

PDF YouTube

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

BibTeX

@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},
}

PDF

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

BibTeX

@masterthesis{Orthey2011Bsc,
  author = {Orthey, Andreas},
  institution = {Berlin University of Technology},
  school = {Berlin University of Technology},
  title = {Three dimensional Joint Detection},
  web = {https://www.tu.berlin/en/robotics/teaching/theses/completed-theses/three-dimensional-joint-detection},
  year = {2012},
}

PDF Website

Student Theses

Nicolas Hargus, Multi-Robot Motion Planning for Disassembly Tasks, M.Sc. Thesis, Technische Universität Berlin, 2025 (Expected)
Servet Bora Bayraktar, Large-Scale Disassembly: Efficient Planning for Recycling using Path Defragmentation, M.Sc. Thesis, Technische Universität Berlin, 2025 (Expected)
Lennart Julian Droß, Synthetic Datasets for Robot Manipulation Tasks using Procedural Content Generation, B.Sc. Thesis, Technische Universität Berlin, 2025
Theo Valentin Kern, Rearrangement Planning for Construction Assembly using Teams of Multirotors, M.Sc. Thesis, Technische Universität Berlin, 2023
Andrey Solano, Real-Time Multi-Robot Motion Planning using Decomposed Sampling-Based Methods, M.Sc. Thesis, KTH Royal Institute of Technology, 2023
Janis Eric Freund, Asymptotically Optimal Belief Space Planning, M.Sc. Thesis, Technische Universität Berlin, 2023
Servet Bora Bayraktar, Solving Rearrangement Puzzles Optimally using Fragmentation-Based Motion Planning, B.Sc. Thesis, Technische Universität Berlin, 2022
Ilyes Toumi, Real-time task and motion planning for dual-arm robots in a bin-picking application, M.Sc. Thesis, RWTH Aachen University, 2022
Jay Prabodh Kamat, Multimodal Optimization for Manipulation Tasks, M.Sc. Thesis, Birla Institute of Technology and Science, 2022
Noran Abdelsalam, Assembly Sequence Planning of Architectural Structures, B.Sc. Thesis, Technische Universität Berlin, 2021
Francesco Grothe, Bidirectional tree search through space-time for prioritized multi-robot planning, B.Sc. Thesis, Technische Universität Berlin, 2021
Marie-Therese Khoury, Efficient Sampling of Transition Constraints for Motion Planning under Sliding Contacts, B.Sc. Thesis, Universität Stuttgart, 2020
Alexander Harner, Method to Optimize and Enumerate Local Minima in Probabilistic Roadmaps, B.Sc. Thesis, Universität Stuttgart, 2020
Azer Messaoudi, An Optimization Algorithm for Dynamical Systems under Non-holonomic Constraints, B.Sc. Thesis, Universität Stuttgart, 2020
Sohaib Akbar, Sparse and Optimal Planning Algorithms for Multilevel Motion Planning, M.Sc. Thesis, Universität Stuttgart, 2020
Benjamin Frész, Visualization of Holonomic and Non-Holonomic Planning Problems, B.Sc. Thesis, Universität Stuttgart, 2019