BiSpace Planning: Concurrent Multi-Space Exploration

We present a planning algorithm called BiSpace that produces fast plans to complex high-dimensional problems by simultaneously exploring multiple spaces. We specifically focus on finding robust solutions to manipulation and grasp planning problems by using BiSpace's special characteristics to explore the work and configuration spaces of the environment and robot. Furthermore, we present a number of techniques for constructing informed heuristics to intelligently search through these highdimensional spaces. In general, the BiSpace planner is applicable to any problem involving multiple search spaces.