Publications

Journals and Book Chapters

1. 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]

2. Andreas Orthey, Sohaib Akbar, Marc Toussaint, Multilevel Motion Planning: A Fiber Bundle Formulation, International Journal of Robotics Research (IJRR), 2023, [PDF-preprint] [Bibtex]

3. 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]

4. 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]

5. 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]

6. 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]

7. 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]

8. 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]

9. 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]

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

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

Conferences

1. 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]

2. 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]

3. 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]

4. 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]

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

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

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

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

9. 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]

10. 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]

11. 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]

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]

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]