[robotics-worldwide] OOPSMP - Software for Motion Planning

Lydia Kavraki kavraki at cs.rice.edu
Sun Feb 17 22:41:01 PST 2008

The Kavraki Lab for Physical and Biological Computing at Rice University 
is proud to announce the official release of OOPSMP v1, an 
Object-Oriented Programming System for Motion Planning. OOPSMP includes 
the following:

    * Implementations of popular motion planners such as Probabilistic 
RoadMap (PRM), Rapidly-exploring Random Tree (RRT), Expansive Spaces 
Tree (EST), bi-directional tree planners, and others.

    * Solution of problems involving one or multiple robots where each 
robot can freely rotate and translate or kinodynamic constraints can be 
imposed that restrict the possible motions.

    * General purpose utilities and data structures such as nearest 
neighbors; numerical integration; SE(2), SO(3) [quaternions], SE(3); 
sets, maps, disjoint sets, updatable heaps, graphs; DFS, BFS, Dijsktra, 
A*; and others.

    * Plug-and-play - One of the most distinctive features of OOPSMP is 
that it allows to plug-and-play existing code or new code via XML 

This software accessible enough to be used for educational purposes - 
general programming classes and robotics classes. Educators interested 
in using this package for their classes should contact kavraki at rice.edu. 
It is also advanced enough to be used as a research test bed.

OOPSMP is free for academic use, and can be downloaded from 

Comments and suggestions for improvement are most welcome.

Lydia Kavraki

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