  We present an anytime algorithm that generates a collision-free
configuration-space path that closely follows a desired path in task space,
according to the discrete Frechet distance. By leveraging tools from
computational geometry, we approximate the search space using a cross-product
graph. We use a variant of Dijkstra's graph-search algorithm to efficiently
search for and iteratively improve the solution. We compare multiple proposed
densification strategies and empirically show that our algorithm outperforms a
set of state-of-the-art planners on a range of manipulation problems. Finally,
we offer a proof sketch of the asymptotic optimality of our algorithm.
