OOPS for Motion Planning: An Online Open-source Programming System

Publication Type:

Conference Paper

Authors:

Plaku, E.; Kostas E. Bekris; Lydia E. Kavraki

Source:

IEEE International Conference on Robotics and Automation (ICRA), Rome, Italy, p.3711-3716 (2007)

Keywords:

proximity relations path planning kinodynamic/physics-based motion planning kavrakilab

Abstract:

The success of sampling-based motion planners has resulted in a
plethora of methods for improving planning components, such as
sampling and connection strategies, local planners and collision
checking primitives. Although this rapid progress indicates the
importance of the motion planning problem and the maturity of the
field, it also makes the evaluation of new methods time consuming.

We propose that a systems approach is needed for the development and
the experimental validation of new motion planners and/or components
in existing motion planners. In this paper, we present the Online,
Open-source, Programming System for Motion Planning (OOPSMP), a
programming infrastructure with an open interface.

OOPSMP provides implementations of various existing algorithms in a
modular, object-oriented fashion that is easily
extendable. The system is open-source, since a
community-based effort better facilitates the
development of a common infrastructure and is less prone
to errors. We hope that researchers will contribute
their optimized implementations of their methods and
thus improve the quality of the code available for
use. A dynamic web interface and a dynamic linking
architecture at the programming level allows users to
easily add new planning components, algorithms,
benchmarks, and experiment with different
parameters. The system allows the direct comparison of
new contributions with existing approaches on the same
hardware and programming infrastructure.

Preprint PDF     Publisher's web site