MPK: An open extensible motion planning kernel

Abstract

Ž. The motion planning kernel MPK is a software system designed to facilitate development, testing, and comparison of robotic and geometric reasoning algorithms. Examples of such algorithms include automatic path planning, grasping, etc. The system has been designed to be open and extensible, so that new methods can be easily added and compared on the same platform.

Path planning with general end-effector constraints

“…We have implemented both Adapted-RGD (including PRM-RGD and RRT-RGD) and ATACE with our in-house developed software library MPK, the Motion Planning Kernel [8]. The simulations were carried on a Pentium 4 2.0 GHz PC.…”

An Open Object Oriented Path Planning System

“…The main goal of this work is to present how these techniques can be exploited in the development of a motion planning system whose aim is to ease the study and development of new planning strategies and the benchmarking and comparison of the existing ones. While steps in this direction where taken in (Gipson et al, 2001) and (Cameron and Pitt-Francis, 2001), the work described in this paper takes several steps further in exploiting advanced OOP concepts along with interoperable representation languages.…”