We present preliminary results of a path planner for two robotic arms sharing the same workspace. Unlike many other approaches, our planner finds collision-free paths using the robot's cartesian space as a trade-off between completeness and no workspace preprocessing. Given the high dimensionality of the search space, we use a two phase Genetic Algorithm to find a suitable path in workspaces cluttered with obstacles. Because the length of the path is unknown in advance, the planner manipulates a flexible and well crafted representation which allows the path to grow or shrink during the search process. The performance of our planner was tested on several scenarios where the only moving objects were the two robotic arms. The test scenarios force the manipulators to move through narrow spaces for which suitable and safe paths were found by the planner.
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