Open Motion Planning Library

The Open Motion Planning Library (OMPL) is a software toolkit providing algorithms for planning robot movements, aiming to find collision-free and optimal paths in complex environments. Current research focuses on extending OMPL's capabilities to handle increasingly challenging scenarios, including multi-robot coordination, partially observable environments requiring belief space planning, and robots with nonholonomic constraints addressed through advanced algorithms like RRT* variants and novel motion primitives. These advancements are significant for robotics research, enabling more efficient and robust motion planning in diverse applications such as medical robotics, mobile manipulation, and autonomous navigation in unstructured terrains.