Benchmarking Motion Planning Algorithms: An Extensible Infrastructure for Analysis and Visualization

• Published in: IEEE robotics & automation magazine Vol. 22; no. 3; pp. 96 - 102
• Main Authors: Moll, Mark, Sucan, Ioan A., Kavraki, Lydia E.
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.09.2015; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Algorithms; Asymptotic properties; Automation; Benchmark testing; Collision avoidance; Completeness; Measurement; Mobile robots; Motion planning; Optimization; Path planning; Robotics; Robots; Specifications

Motion planning is a key problem in robotics that is concerned with finding a path that satisfies a goal specification subject to constraints. In its simplest form, the solution to this problem consists of finding a path connecting two states, and the only constraint is to avoid collisions. Even for...