Our lab maintains the following software, which is intended to be used by researchers for fast prototyping and comparison purposes. Our philosophy is to provide versatile, lean, low-overhead modules that can be incorporated into existing projects across a variety of platforms.
This software is free for academic use; contact us if you intend to use it for commercial purposes. If you use it as part of a scientific publication, please cite the associated paper. Please contact us if you have comments, questions, or success stories.
Assisted Teleoperation GUI
This package provides a hands-on GUI for demonstrating robot arm teleoperation strategies that accompany the paper: Assisted Teleoperation Strategies for Aggressively Controlling a Robot Arm with 2D Input by E. You and K. Hauser, appearing in RSS 2012. Windows binaries (26Mb).
Lightweight Motion Planning Library (LMPL)
LMPL is a lightweight module that implements a core set of motion planning algorithms.
Key Features
- An implementation of multi-modal planning algorithms from the paper Multi-Modal Motion Planning in Non-Expansive Spaces by K. Hauser and J.-C. Latombe, appearing in IJRR 2009.
- An implementation of the minimum constraint removal algorithm from the paper The Minimum Constraint Removal Problem with Three Robotics Applications by K. Hauser and J.-C. Latombe, appearing in WAFR 2012.
Other Features
- Does not impose a specific problem structure (e.g., an articulated robot) on the user. Rather, it takes an abstract object-oriented approach where the user defines basic callbacks (collision checking, sampling, etc) for the configuration space under consideration.
- Supports a variety of classic motion planning algorithms, including PRM, SBL, and RRT.
- Supports the multi-modal planning algorithms Multi-Modal-PRM and Incremental-MMPRM.
- Written in C++ and includes both Visual Studio project files and GNU-style Makefiles.
- Distributed under the LGPL license.
Downloads
- Latest Version (1.1), released 5/9/2012.
Parabolic Path Smoother
This code contains a fast smoothing algorithm for robot manipulator trajectories under geometric constraints and bounded acceleration. It accompanies the paper Fast Smoothing of Manipulator Trajectories using Optimal Bounded-Acceleration Shortcuts by K. Hauser and V. Ng-Thow-Hing, appearing in ICRA 2010.
Features
- Written in C++.
- Applicable to systems in Rn under velocity and acceleration bounds, and general kinematic constraints, e.g., a manipulator arm under collision constraints. You supply a collision checking subroutine to the algorithm.
- Well documented, lightweight (only two source files).
- Distributed under the BSD license.
- Users: ROS library, default path smoother for OpenRAVE v0.5.0.
Downloads
- Latest Version (1.3), released 10/18/2011.
Path-Velocity-Time Visibility Graph Planner
This package implements a visibility graph planner for velocity- and acceleration-bounded systems along a fixed path and dynamic obstacles. It accompanies the paper Optimal Acceleration-Bounded Trajectory Planning in Dynamic Environments Along a Specified Path by J. Johnson and K. Hauser, appearing in ICRA 2012.
Features
- Computes an exact visibility graph as well as the time-optimal trajectory.
- Polynomial time in the number of PT obstacles.
- Written in C++
- Distributed under the LGPL license.
Downloads
- Latest version (370kb).