ICAPS 2016 Summer School

Sampling-based motion planning
and its combination with task planning

Lecture Outline

1. Overview of sampling-based robot motion planning
2. Integrated task and motion planning
3. Overview of the Open Motion Planning Library (OMPL)
4. Modeling & solving motion planning problems with OMPL

Links

• OMPL Documentation
• OMPL web app
• Planner Arena
• Spot, a library we use for generating deterministic finite automata from LTL specifications. See demo in OMPL.

Recommended Further Reading

1. H. Choset, K.M. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L.E. Kavraki, and S. Thrun, Principles of Robot Motion: Theory, Algorithms, and Implementations. MIT Press, 2005. http://motionplanning.com
2. S. M. LaValle, Planning Algorithms. Cambridge University Press, 2006. http://planning.cs.uiuc.edu