Motion Strategy Library

This is an open-source general-purpose C++ library for implementing and comparing motion planning algorithms, for use in research, education, and industry. See the Motion Strategy Library page.

A Nearest-Neighbor Library for Motion Planning

A C++ library, written by Anna Yershova, that uses Kd-trees adapted to topological spaces that arise in motion planning. This enables fast nearest-neighbor computations in sampling-based motion planning algorithms.

Sampling the Space of 3D Rotations, SO(3)

A C++ library that generates sequences of samples that are close to uniform and have regular neighborhood structure.
See the companion paper paper, in the International Journal of Robotics Research.

Simple RRT Code

In python: rrt.py. You'll need the PyGame package, which is easy to install (in Ubuntu, it is available by default from the package installer). Note: This only draws the edges, rather than maintain a data structure.