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cs.RO2025
SRMP: Search-Based Robot Motion Planning Library
Itamar Mishani, Yorai Shaoul, Ramkumar Natarajan +2
Motion planning is a critical component in any robotic system. Over the years, powerful tools like the Open Motion Planning Library (OMPL) have been developed, offering numerous mo…
cs.RO2024
Implicit Graph Search for Planning on Graphs of Convex Sets
Ramkumar Natarajan, Chaoqi Liu, Howie Choset +1
Graphs of Convex Sets (GCS) is a recent method for synthesizing smooth trajectories by decomposing the planning space into convex sets, forming a graph to encode the adjacency rela…