Publications

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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},
    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},
  }

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• 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},
    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},
  }

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

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• 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},
  }

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• 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},
  }

  PDF

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

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• 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},
    pdf = {https://arxiv.org/pdf/2203.02176.pdf},
  }

  PDF
• 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},
    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},
    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},
  }

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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},
  }

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• 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},
  }

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• 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},
  }

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