# Minimum Displacement Motion Planning for Movable Obstacles

arXiv: https://arxiv.org/abs/2204.12740 · HTML: https://mlsanity.com/paper/2204.12740/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- Builds on 4 of its 20 references that are in the map.
- First posted on arXiv 27 Apr 2022.

## Builds on (most cited first, 4 of 4)

- [FFRob: Leveraging Symbolic Planning for Efficient Task and Motion Planning](https://mlsanity.com/paper/1608.01335/) (2016)
- [Towards Multi-Robot Task-Motion Planning for Navigation in Belief Space](https://mlsanity.com/paper/2010.00780/) (2020)
- [MPTP: Motion-Planning-aware Task Planning for Navigation in Belief Space](https://mlsanity.com/paper/2104.04696/) (2021)
- [A Task-Motion Planning Framework Using Iteratively Deepened AND/OR Graph Networks](https://mlsanity.com/paper/2104.01549/) (2021)

## Built on by (most cited first, 4 of 4)

- [Computational Tradeoff in Minimum Obstacle Displacement Planning for Robot Navigation](https://mlsanity.com/paper/2302.07114/) (2023)
- [A Task and Motion Planning Framework Using Iteratively Deepened AND/OR Graph Networks](https://mlsanity.com/paper/2503.07700/) (2025)
- [Locally Optimal Solutions to Constraint Displacement Problems via Path-Obstacle Overlaps](https://mlsanity.com/paper/2511.12203/) (2025)
- [A Horizon-slicing Approach to Minimum Obstacle Displacement Planning for Robot Navigation](https://mlsanity.com/paper/2609.22974/) (2026)

## Abstract (arXiv)

This paper presents a minimum displacement motion planning problem wherein obstacles are displaced by a minimum amount to find a feasible path. We define a metric for robot-obstacle intersection that measures the extent of the intersection and use this to penalize robot-obstacle overlaps. Employing the actual robot dynamics, the planner first finds a path through the obstacles that minimizes the robot-obstacle intersections. The metric is then used to iteratively displace the obstacles to achieve a feasible path. Several examples are provided that successfully demonstrates the proposed problem.