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Mobile Manipulation Planning Optimized for GPGPU Voxel-Collision Detection in High Resolution Live 3D-Maps

Based on the highly parallel voxel-collision-checking on GPGPUs from our previous work, we developed a motion planner for mobile manipulation tasks in full 3D-environments. The presented approaches are optimized with regards to live data consideration during planning and execution monitoring. They allow the generation of complex plans for narrow passage problems but also highly efficient planning in open environments.