Voss, CalebMoll, MarkKavraki, Lydia E.2017-08-022017-08-022017-06-14Voss, Caleb, Moll, Mark and Kavraki, Lydia E.. "Atlas + X: Sampling-based Planners on Constraint Manifolds." (2017) https://hdl.handle.net/1911/96421.https://hdl.handle.net/1911/96421Sampling-based planners struggle when the valid configurations are constrained to an implicit manifold. Special planners have been proposed for this problem recently. Our new framework is decoupled from any particular planner and augments existing algorithms not explicitly designed for constraint planning. We demonstrate the advantages of our generalized approach.9 ppengYou are granted permission for the noncommercial reproduction, distribution, display, and performance of this technical report in any format, but this permission is only for a period of forty-five (45) days from the most recent time that you verified that this technical report is still available from the Computer Science Department of Rice University under terms that include this permission. All other rights are reserved by the author(s).Technical reportTR17-02