[robotics-worldwide] IROS 2008 motion planning tutorial

Mark Moll mmoll at cs.rice.edu
Sun Sep 21 16:08:20 PDT 2008

IROS 2008 Half-Day Tutorial

Motion planning with the OOPSMP toolkit:
A hands-on tutorial on using state-of-the-art motion planning algorithms

* Date: Friday, September 26, 2008 (morning session)

* URL: http://www.kavrakilab.org/OOPSMPtutorial

* Organizers: Mark Moll, Lydia E. Kavraki, Erion Plaku, Ioan Sucan,  
Konstantinos Tsianos, and Kostas Bekris

* Objectives and Topics

The objective of this course is to provide a hands-on tutorial on  
using the Object-Oriented Programming System for Motion Planning  
(OOPSMP) software package. This software contains implementations of  
most state-of-the-art motion planning algorithms. It is designed to be  
highly modular and easily accessible. To use the existing motion  
planners in OOPSMP one only has to write simple XML files specifying  
the motion planning problem and the desired solver. The motion  
planning problem description includes a specification of the  
environment and the robot(s). The solver description includes a high- 
level planner, a low-level local planner, and algorithm parameters. It  
is designed to be very accessible and no previous programming  
experience is required to use the existing functionality.

However, OOPSMP is flexible enough to be extended with other sampling- 
based motion planning algorithms. We will also cover what is needed to  
add one’s own algorithms. Many of the basic data structures used in  
motion planning algorithms are, of course, already implemented, so  
that trying out new ideas will be easy. The hands-on part of the  
tutorial is preceded with an overview of the current state-of-the-art  
motion planning algorithms. The emphasis will be more on the relative  
merits of each motion planning method rather than the details of each  
algorithm. This should allow an OOPSMP user to make an informed  
decision on choosing a particular motion planning algorithm and its  
parameters for a given problem.

* Intended Audience

OOPSMP is both a teaching tool as well as a research testbed for  
developing new motion planning algorithms. The tutorial is thus  
intended for those who teach robotics classes and researchers in the  
field of motion planning.

* Tutorial material

After the tutorial, slides and videos will posted on the tutorial web  
site. The OOPSMP software described in this tutorial is available at http://kavrakilab.org/OOPSMP/index.html 

Mark Moll
Rice University, MS 132, PO Box 1892, Houston, TX 77251
713-348-5934 (phone), 713-348-5930 (fax)

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