Planner Developer Tools (PDT)

Source Code

Planner Developer Tools (PDT) is available in our GitHub repository. Installation instructions are available in the contained readme.md.

Description

Planner Developer Tools (PDT) is an open-source C++ project to make it easier to test, evaluate, analyze, and compare the anytime performance of sampling-based planners across problem domains in both single- and multiquery settings. It provides tools to simplify experimental design, manage problem and planner configuration, calculate meaningful nonparametric statistical measures of performance, generate publication-ready figures, and visualize the planning process. It works with both the included abstract problems and problems defined in other libraries (e.g., OpenRAVE).

Bibliography

Authors
1. J. D. Gammell
2. M. P. Strub
3. V. N. Hartmann
Title
Planner Developer Tools (PDT): Reproducible experiments and statistical analysis for developing and testing motion planners
Publication
Conference
Proceedings of the Workshop on Evaluating Motion Planning Performance (EMPP), IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Location
Kyoto, Japan
Date
23 Oct. 2022
Code

PDFs

Google Scholar