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

• PDF of all the slides
• OMPL Documentation
• Ubuntu 15.04 virtual machine with OMPL.app preinstalled (4.8GB)
  (login/password: ompl/ompl)
  This file can be opened with Virtual Box or VMWare Fusion. The virtual machine is not required for the lecture, but is a useful starting point to start playing around with OMPL.
• 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://msl.cs.uiuc.edu/planning