Paper Title: Anytime Search-Based Footstep Planning with Suboptimality Bounds

• Authors: Armin Hornung, Andrew Dornbush, Maxim Likhachev, and Maren Bennewitz
• Forum: IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS), 2012

Citation

@INPROCEEDINGS{hornung12humanoids,
  author = {Armin Hornung and Andrew Dornbush and Maxim Likhachev and Maren 
  Bennewitz},
  title = {Anytime Search-Based Footstep Planning with Suboptimality Bounds},
  booktitle = {Proc.~of the IEEE-RAS International Conference on Humanoid 
  Robots (HUMANOIDS)},
  year = 2012,
  month = {November},
  address = {Osaka, Japan}
}

Full Text

hornung12humanoids.pdf

Results

Some exemplary planning results (see the paper for details):

A* footstep planning in dense clutter (11.9 s)

ARA* footstep planning in dense clutter (0.7 s)

R* footstep planning in dense clutter (0.4 s)

Documentation and Code

Please refer to the released code and documentation of the footstep_planner package for information about installing and running the code.