The Open Motion Planning Library
IEEE Robotics & Automation MagazinePublished 1 December 2012
Ioan A. Şucan, Mark Moll, Lydia E. Kavraki
Citations1,567
SJR quartileQ1
SJR score1.00
SNIP2.02
Generate an AI Snapshot to get a quick, structured summary of this paper.
Study Snapshot
ObjectiveStudy objective
MethodsResearch methodology
PopulationPopulation studied
Sample sizeSample sizes
OutcomesStudy outcomes here
ResultsStudy results comes here
LimitationsResearch study limitations comes here
A concise AI-generated summary of the paper will appear here once you click Generate AI Snapshot.
TL;DR
The open motion planning library is a new library for sampling-based motion planning, which contains implementations of many state-of-the-art planning algorithms, and it can be conveniently interfaced with other software components.
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).
Keywords
Computer ScienceEngineering
IEEE Transactions on Robotics and AutomationProbabilistic roadmaps for path planning in high-dimensional configuration spaces
6,186 Citations1996Lydia E. Kavraki, P. Švestka +2 more
Experimental results show that path planning can be done in a fraction of a second on a contemporary workstation (/spl ap/150 MIPS), after learning for relatively short periods of time (a few dozen seconds).
Robot Motion Planning
5,423 Citations1991Jean‐Claude Latombe
Planning Algorithms
4,194 Citations2006Steven M. LaValle
Design and use paradigms for gazebo, an open-source multi-robot simulator
3,458 Citations2005Nathan Koenig, A. Howard
Gazebo is designed to fill this niche by creating a 3D dynamic multi-robot environment capable of recreating the complex worlds that would be encountered by the next generation of mobile robots.
RRT-connect: An efficient approach to single-query path planning
3,396 Citations2002James Kuffner, Steven M. LaValle
A simple and efficient randomized algorithm is presented for solving single-query path planning problems in high-dimensional configuration spaces by incrementally building two rapidly-exploring random trees rooted at the start and the goal configurations.
The International Journal of Robotics ResearchRandomized Kinodynamic Planning
3,248 Citations2001Steven M. LaValle, James Kuffner
Medical Entomology and ZoologyPrinciples of Robot Motion: Theory, Algorithms, and Implementations
2,060 Citations2005Howie Choset, Jean‐Claude Latombe
This text reflects the great advances that have taken place in the last ten years in robotics, including sensor-based planning, probabalistic planning, localization and mapping, and motion planning for dynamic and nonholonomic systems.
The Player/Stage Project: Tools for Multi-Robot and Distributed Sensor Systems
1,451 Citations2003Brian Gerkey, Richard Vaughan +1 more
Current usage of Player and Stage is reviewed, and some interesting research opportunities opened up by this infrastructure are identified.
Medical Entomology and ZoologyThe complexity of robot motion planning
1,398 Citations1988John Canny
John Canny resolves long-standing problems concerning the complexity of motion planning and, for the central problem of finding a collision free path for a jointed robot in the presence of obstacles, obtains exponential speedups over existing algorithms by applying high-powered new mathematical techniques.
International Journal of Advanced Robotic SystemsCyberbotics Ltd. Webots <sup>™</sup> : Professional Mobile Robot Simulation
1,242 Citations2004Olivier Michel
Webots™ lets you define and modify a complete mobile robotics setup, even several different robots sharing the same environment, and enable you to transfer your control programs to several commercially available real mobile robots.
Path planning using lazy PRM
841 Citations2000Robert Bohlin, Lydia E. Kavraki
The overall theme of the algorithm, called Lazy PRM, is to minimize the number of collision checks performed during planning and hence minimize the running time of the planner.
International Journal of Advanced Robotic SystemsYARP: Yet Another Robot Platform
645 Citations2006Giorgio Metta, Paul Fitzpatrick +1 more
The goal of YARP is to minimize the effort devoted to infrastructure-level software development by facilitating code reuse, modularity and so maximize research-level development and collaboration by encapsulating lessons from the experience in building humanoid robots.
Path planning in expansive configuration spaces
546 Citations2002David Hsu, J.-C. Latombe +1 more
The analysis of expansive configuration spaces has inspired a new randomized planning algorithm that tries to sample only the portion of the configuration space that is relevant to the current query, avoiding the cost of precomputing a roadmap for the entire configuration space.
The Gaussian sampling strategy for probabilistic roadmap planners
545 Citations2003V. Boor, M.H. Overmars +1 more
This paper presents a new, simple sampling strategy, which it is called the Gaussian sampler, that gives a much better coverage of the difficult parts of the free configuration space.
FCL: A general purpose library for collision and proximity queries
527 Citations2012Jia Pan, Sachin Chitta +1 more
A new collision and proximity library that integrates several techniques for fast and accurate collision checking and proximity computation and is based on hierarchical representations and designed to perform multiple proximity queries on different model representations.
Automated construction of robotic manipulation programs
474 Citations2010Takeo Kanade, James Kuffner +1 more
Springer tracts in advanced roboticsA Single-Query Bi-Directional Probabilistic Roadmap Planner with Lazy Collision Checking
312 Citations2003Gildardo Sanchez‐Ante, Jean‐Claude Latombe
Experimental results show that this combination of techniques drastically reduces planning times, making it possible to handle difficult problems, including multi-robot problems in geometrically complex environments.
The International Journal of Robotics ResearchA Random Sampling Scheme for Path Planning
276 Citations1997Jérôme Barraquand, Lydia E. Kavraki +4 more
This article introduces a general planning scheme that consists of randomly sampling the robot 's configuration space, and describes two previously developed planners as instances of planners based on this scheme, but applying very different sampling strategies.
Fast distance queries with rectangular swept sphere volumes
274 Citations2002Eric Larsen, S. Gottschalk +2 more
These algorithms have been used to perform proximity queries for applications including virtual prototyping, dynamic simulation, and motion planning on complex models and have achieved significant speedups on many benchmarks.
International Journal of Computational Geometry & ApplicationsPATH PLANNING IN EXPANSIVE CONFIGURATION SPACES
264 Citations1999David Hsu, JEAN-CLAUDE LATOMBE +1 more
The International Journal of Robotics ResearchOn the Probabilistic Foundations of Probabilistic Roadmap Planning
259 Citations2006David Hsu, Jean‐Claude Latombe +1 more
It is shown that the success of PRM planning depends mainly and critically on favorable “visibility” properties of a robot’s configuration space and a promising direction for speeding up PRM planners is to infer partial knowledge from both workspace geometry and information gathered during roadmap construction, and to use this knowledge to adapt the probability measure for sampling.
Computer Graphics ForumFast Continuous Collision Detection between Rigid Bodies
250 Citations2002Stéphane Redon, Abderrahmane Kheddar +1 more
This paper introduces a fast continuous collision detection technique for polyhedral rigid bodies that can robustly prevent objects interpenetrations or collisions misses, even when objects are thin or have large velocities.
OBPRM: An Obstacle-Based PRM for 3D Workspaces
246 Citations1998
This paper presents a new class of randomized path planning methods, known as Probabilistic Roadmap Methods (prms), which use randomization to construct a graph of representative paths in C-space whose vertices correspond to collision-free con gurations of the robot.
Modular open robots simulation engine: MORSE
216 Citations2011Gilberto Echeverria, Nicolas Lassabe +2 more
The conception principles of the simulator, MORSE, are presented, which gives the possibility to evaluate the algorithms embedded in the software architecture of the robot within which they are to be integrated and some use-case illustrations.
IEEE Transactions on RoboticsMotion Planning With Dynamics by a Synergistic Combination of Layers of Planning
164 Citations2010Erion Plaku, Lydia E. Kavraki +1 more
Simulation experiments with dynamical models of ground and flying vehicles demonstrate that the combination of discrete search and motion planning in SyCLoP offers significant advantages, with speedups of up to two orders of magnitude.
AIP conference proceedingsOdeint – Solving Ordinary Differential Equations in C++
151 Citations2011Karsten Ahnert, Mario Mulansky +4 more
A new C++ library dedicated to find numerical solutions of initial value problems of ODEs: odeint (www.odeint.com), implemented in a highly generic way and provides extensive interoperability at top performance.
IEEE Transactions on RoboticsA Sampling-Based Tree Planner for Systems With Complex Dynamics
151 Citations2011Ioan A. Şucan, Lydia E. Kavraki
This paper presents a kinodynamic motion planner, i.e., Kinodynamic Motion Planning by Interior-Exterior Cell Exploration (KPIECE), which is specifically designed for systems with complex dynamics, where integration backward in time is not possible, and speed of computation is important.
KiltHub RepositoryAutomated Construction of Robotic Manipulation Programs
142 Citations2010Diankov, Rosen
Lecture notes in computer scienceA Software Platform for Component Based RT-System Development: OpenRTM-Aist
127 Citations2008Noriaki Ando, Takashi Suehiro +1 more
The RT-Component which is a basic madular unit of RT-Middleware based system integration is derived from this discussion and a methodology of system development with RT-Components, and a framework to make component are shown.
IEEE Transactions on Robotics and AutomationMeasure theoretic analysis of probabilistic path planning
121 Citations2004Andrew M. Ladd, Lydia E. Kavraki
This paper presents a novel analysis of the probabilistic roadmap method (PRM) for path planning, and gives a bound on the expected number iterations of PRM required to find a path, in terms of the number of intermediate points and the probability of choosing a point from a certain set.
Randomized query processing in robot path planning
104 Citations1995Lydia E. Kavraki, Jean‐Claude Latombe +2 more
Under a simple assumption about the configuration space, it is shown that it is possible to perform a preprocessing step following which queries can be answered quickly and pose and give solutions to related problems on graph connectivity in the evasiveness model, and art gallery theorems.
ETRI JournalOPRoS: A New Component-Based Robot Software Platform
101 Citations2010Choulsoo Jang
A new robot software component platform in order to support the entire process of robot software development, consisting of specifications of a component model, component authoring tool, component composer, and component execution engine is proposed.
BMC Structural BiologyTracing conformational changes in proteins
83 Citations2010Nurit Haspel, Mark Moll +3 more
This work investigates the application of a robotics-inspired method, using backbone and limited side chain representation and a coarse grained energy function to trace large-scale conformational motions, and shows that even with relatively little information it is able to trace low-energy conformational pathways efficiently.
IEEE Transactions on RoboticsScalable Variational Integrators for Constrained Mechanical Systems in Generalized Coordinates
75 Citations2009Elliot R. Johnson, Todd D. Murphey
A technique to implement scalable variational integrators for generic mechanical systems in generalized coordinates that uses recursive equations, and caches calculated values, to scale to large systems by the use of generalized coordinates.
Journal of Computational BiologySimulating Protein Motions with Rigidity Analysis
66 Citations2007Shawna Thomas, Xinyu Tang +2 more
A novel method based on rigidity theory to sample conformation space more effectively is proposed and extensions of the framework to automate the process and to map transitions between specified conformations are described.
PLoS Computational BiologyRapid Sampling of Molecular Motions with Prior Information Constraints
64 Citations2009Barak Raveh, Angela Enosh +2 more
This paper presents PathRover, a general setup designed for the integration of prior information into the motion planning algorithm of rapidly exploring random trees (RRT), and shows that a limited set of experimentally motivated constraints may effectively bias the simulations toward diverse predicates in an outright fashion.
OOPS for Motion Planning: An Online, Open-source, Programming System
64 Citations2007Erion Plaku, Kostas E. Bekris +1 more
This paper presents the online, open-source, programming system for motion planning (OOPSMP), a programming infrastructure that provides implementations of various existing algorithms in a modular, object-oriented fashion that is easily extendible.
Formal Methods in System DesignHybrid systems: from verification to falsification by combining motion planning and discrete search
60 Citations2008Erion Plaku, Lydia E. Kavraki +1 more
On the implementation of single-query sampling-based motion planners
28 Citations2010Ioan A. Şucan, Lydia E. Kavraki
The common core of single-query sampling-based motion planners is exposed and a tutorial for their implementation is presented and a set of ideas extracted from algorithms existing in the literature is presented.
IEEE/ACM Transactions on Computational Biology and BioinformaticsEncoding Molecular Motions in Voxel Maps
15 Citations2010Jorge Cortés, Sophie Barbe +2 more
VIZMO++: a visualization, authoring, and educational tool for motion planning
8 Citations2006Aimee Vargas Estrada, Jyh‐Ming Lien +1 more
An interactive tool for visualizing and editing motion planning environments, problem instances, and their solutions that is specialized for sampling-based randomized planners such as probabilistic roadmap (PRM) and rapidly-exploring random tree (RRT) methods is presented.