This forked branch includes an implementation of Greedy RRT* (G-RRT*), a greedy version of the anytime Rapidly-exploring Random Trees (RRT*) algorithm. Other benchmarked planners used in the paper can also be found in the benchmarking branch.
If you use any of this code in your research work, please consider citing:
@article{kyaw2024greedy,
title={Greedy heuristics for sampling-based motion planning in high-dimensional state spaces},
author={Kyaw, Phone Thiha and Le, Anh Vu and Yi, Lim and Veerajagadheswar, Prabakaran and Vu, Minh Bui and Elara, Mohan Rajesh},
journal={arXiv preprint arXiv:2405.03411},
year={2024}
}
Visit the OMPL installation page for detailed installation instructions.
OMPL has the following required dependencies:
The following dependencies are optional:
- Py++ (needed to generate Python bindings)
- Doxygen (needed to create a local copy of the documentation at https://ompl.kavrakilab.org/core)
- Flann (FLANN can be used for nearest neighbor queries by OMPL)
- Spot (Used for constructing finite automata from LTL formulae.)
Once dependencies are installed, you can build OMPL on Linux, macOS, and MS Windows. Go to the top-level directory of OMPL and type the following commands:
mkdir -p build/Release
cd build/Release
cmake ../..
# next step is optional
make -j 4 update_bindings # if you want Python bindings
make -j 4 # replace "4" with the number of cores on your machine