The Open Motion Planning Library

The open motion planning library (OMPL) is a new library for sampling-based motion planning, which contains implementations of many state-of-the-art planning algorithms. The library is designed in a way that it allows the user to easily solve a variety of complex motion planning problems with minima...

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Vydáno v:	IEEE robotics & automation magazine Ročník 19; číslo 4; s. 72 - 82
Hlavní autoři:	Sucan, Ioan A., Moll, Mark, Kavraki, Lydia E.
Médium:	Journal Article
Jazyk:	angličtina
Vydáno:	New York, NY IEEE 01.12.2012 Institute of Electrical and Electronics Engineers
Témata:	Aerospace electronics Applied sciences Benchmark testing Computer science; control theory; systems Control theory. Systems Exact sciences and technology Libraries Planning Robotics Robots Software Software algorithms Motion control Planning
ISSN:	1070-9932, 1558-223X
On-line přístup:	Získat plný text
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Abstract	The open motion planning library (OMPL) is a new library for sampling-based motion planning, which contains implementations of many state-of-the-art planning algorithms. The library is designed in a way that it allows the user to easily solve a variety of complex motion planning problems with minimal input. OMPL facilitates the addition of new motion planning algorithms, and it can be conveniently interfaced with other software components. A simple graphical user interface (GUI) built on top of the library, a number of tutorials, demos, and programming assignments are designed to teach students about sampling-based motion planning. The library is also available for use through Robot Operating System (ROS).
AbstractList	The open motion planning library (OMPL) is a new library for sampling-based motion planning, which contains implementations of many state-of-the-art planning algorithms. The library is designed in a way that it allows the user to easily solve a variety of complex motion planning problems with minimal input. OMPL facilitates the addition of new motion planning algorithms, and it can be conveniently interfaced with other software components. A simple graphical user interface (GUI) built on top of the library, a number of tutorials, demos, and programming assignments are designed to teach students about sampling-based motion planning. The library is also available for use through Robot Operating System (ROS).
Author	Moll, Mark Sucan, Ioan A. Kavraki, Lydia E.
Author_xml	– sequence: 1 givenname: Ioan A. surname: Sucan fullname: Sucan, Ioan A. email: isucan@willowgarage.com organization: Department of Computer Science, Rice University, Houston, TX 77251 USA – sequence: 2 givenname: Mark surname: Moll fullname: Moll, Mark email: mmoll@rice.edu organization: Department of Computer Science, Rice University, Houston, TX 77251 USA – sequence: 3 givenname: Lydia E. surname: Kavraki fullname: Kavraki, Lydia E. email: kavraki@rice.edu organization: Department of Computer Science, Rice University, Houston, TX 77005 USA
BackLink	http://pascal-francis.inist.fr/vibad/index.php?action=getRecordDetail&idt=26712251$$DView record in Pascal Francis
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