The Open Motion Planning Library

@article{Sucan2012TheOM,
  title={The Open Motion Planning Library},
  author={Ioan Alexandru Sucan and Mark Moll and Lydia E. Kavraki},
  journal={IEEE Robotics & Automation Magazine},
  year={2012},
  volume={19},
  pages={72-82}
}
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… CONTINUE READING

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