Path Planning Links

Motion Planning Software

• NEW - available soon: PPT : Path Planning Toolkit.
• The Motion Strategy Library, which can handle both holonomic and nonholonomic motion planning problems across a wide range of examples.
• Mark Overmar's Motion Planning Game software.
• Move3D software developed by the Robotics Group at LAAS-CNRS, now commercialized by Kineo.
• Texas A&M Collection of Motion Planning Puzzles and Benchmarks.
• Archimedes Assembly Planning Project.

Collision Checking and Distance Computation

• Several Collision Detection Software packages developed by the UNC Collide Research Group
• Brian Mirtich's V-Clip Collision Detection software
• The QuickCD Collision Detection Library developed at SUNY Stony Brook.
• ColDet - Free 3D Collision Detection Library
• Implementation of the GJK Algorithm by researchers at Oxford University.

Other Computational Geometry Software

• CGAL : Computational Geometry Algorithms Library.
• David Eppstein's Geometry in Action, an excellent collection of links, papers, and software.
• Univ. of Maryland's ANN : Aporoximate Nearest Neighbor software.
• Ranger - Nearest Neighbor Search in Higher Dimensions.
• The Geometry Center software from the Univ. of Minnesota, such as the popular "Geomview", and "qhull". (unfortunately, the center is now closed)