Planner Developer Tools (PDT)
Planner Developer Tools (PDT) is available in our GitHub repository.
Installation instructions are available in the contained
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).
- Planner Developer Tools (PDT): Reproducible experiments and statistical analysis for developing and testing motion planners
- Proceedings of the Workshop on Evaluating Motion Planning Performance (EMPP), IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
- Kyoto, Japan