This page includes a list of extensions to OMPL provided by the community. The contributed code can be found under the ompl/src/ompl/contrib
directory in the OMPL source code. The contributed code has been written and tested by their respective authors listed below. Maintenance and support is also provided by the same authors. Please read the directions on writing a contribution and the suggested style guide if you would like to submit your own contribution.
The ompl_ros_interface ROS package wraps OMPL such that motion planners can be easily set up for your robot. Most configuration is automated. However, you will have to specify the parts of the robot for which you want to create a motion planner.
RRT* (optimal RRT) is an asymptotically-optimal incremental sampling-based motion planning algorithm. RRT* algorithm is guaranteed to converge to an optimal solution, while its running time is guaranteed to be a constant factor of the running time of the RRT. The RRT* algorithm was introduced and analyzed in:
For more information on RRT* and its variants see http://ares.lids.mit.edu/rrtstar/.
Generalized the implementation of PRM so that different variations can be created by passing connection strategies and filters. Provided such functions for PRM and PRM*.