== 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
<<TOC(3)>>
== 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 ==
[[http://www.informatik.uni-freiburg.de/~hornunga/pub/hornung12humanoids.pdf|hornung12humanoids.pdf]]

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

=== A* footstep planning in dense clutter (11.9 s) ===
{{attachment:dense_clutter_astar_sm.png||}}

=== ARA* footstep planning in dense clutter (0.7 s) ===
{{attachment:dense_clutter_ara_dijkstra_1st_sm.png||}}

=== R* footstep planning in dense clutter (0.4 s) ===
{{attachment:dense_clutter_rstar_1st_sm.png||}}



== Documentation and Code ==
Please refer to the released code and documentation of the [[footstep_planner]] package for information about installing and running the code.


----
## PublicationCategory