MPK: An open extensible motion planning kernel

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. © 2001 John Wiley & Sons, Inc.

[1]  B. Faverjon,et al.  Probabilistic Roadmaps for Path Planning in High-Dimensional Con(cid:12)guration Spaces , 1996 .

[2]  Lydia E. Kavraki,et al.  Path planning using lazy PRM , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[3]  Kamal K. Gupta,et al.  Manipulation Planning for Redundant Robots: A Practical Approach , 1998, Int. J. Robotics Res..

[4]  Antonio Bicchi,et al.  Interactive benchmark for planning algorithms on the Web: http:.//www.piaggio.ccii.unipi.it/benchplanning.html , 1997, Proceedings of International Conference on Robotics and Automation.

[5]  Richard Gourdeau,et al.  Object-oriented programming for robotic manipulator simulation , 1997, IEEE Robotics Autom. Mag..

[6]  El-Ghazali Talbi,et al.  The "Ariadne's clew" algorithm: global planning with local methods , 1993, Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93).

[7]  Dinesh Manocha,et al.  V-COLLIDE: accelerated collision detection for VRML , 1997, VRML '97.

[8]  Dinesh Manocha,et al.  I-COLLIDE: an interactive and exact collision detection system for large-scale environments , 1995, I3D '95.

[9]  P. Grayson.  Robotic Motion Planning , 1999 .

[10]  Michael Greenspan,et al.  Obstacle count independent real-time collision avoidance , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[11]  Jean-Claude Latombe,et al.  Robot Motion Planning: A Distributed Representation Approach , 1991, Int. J. Robotics Res..

[12]  William L. Ditto,et al.  Principles and applications of chaotic systems , 1995, CACM.

[13]  Emmanuel Mazer,et al.  ACT: a robot programming environment , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[14]  Kamal K. Gupta,et al.  The kinematic roadmap: a motion planning based global approach for inverse kinematics of redundant robots , 1999, IEEE Trans. Robotics Autom..

[15]  Lydia E. Kavraki,et al.  Probabilistic roadmaps for path planning in high-dimensional configuration spaces , 1996, IEEE Trans. Robotics Autom..

[16]  Kamal K. Gupta,et al.  Practical global motion planning for many degrees of freedom: a novel approach within sequential framework , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[17]  Peter I. Corke,et al.  A robotics toolbox for MATLAB , 1996, IEEE Robotics Autom. Mag..

[18]  Kurt Mehlhorn,et al.  LEDA: a platform for combinatorial and geometric computing , 1997, CACM.