3 papers
cs.RO2026
The Open Motion Planning Library 2.0
Weihang Guo, Theodoros Tyrovouzis, Emiliano Flores +5
The Open Motion Planning Library (OMPL), first released in 2008, has become a cornerstone of the motion planning community, providing implementations of a wide range of state-of-th…
cs.RO2026
Ultrafast Sampling-based Kinodynamic Planning via Differential Flatness
Thai Duong, Clayton W. Ramsey, Zachary Kingston +2
Motion planning under dynamics constraints, i.e, kinodynamic planning, enables safe robot operation by generating dynamically feasible trajectories that the robot can accurately tr…
cs.RO2024
Collision-Affording Point Trees: SIMD-Amenable Nearest Neighbors for Fast Collision Checking
Clayton W. Ramsey, Zachary Kingston, Wil Thomason +1
Motion planning against sensor data is often a critical bottleneck in real-time robot control. For sampling-based motion planners, which are effective for high-dimensional systems…