MPK: An open extensible motion planning kernel

Abstract

Abstract 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.