Projects

Integrated Motion Planning in Blender

Blender, MORSE, and OMPL are three very different, but related projects. The first is for 3D modeling and basic physics simulation, the second for robot control simulation, and the third for motion planning. MORSE is built around Blender, and since all three use Python APIs, there was a clear opportunity at hand. I built the interface between OMPL and the other two, allowing for a unified workflow of specifying, solving, and playing back motion paths in dynamic environments. [...]

VF-RRT Implementation for OMPL

Vector fields introduce a notion of cost to the possible solutions paths of a motion planning problem. It is expensive to move against the field, but cheap to ride it. A classmate and I contributed an implementation of the Vector Field Rapidly-exploring Random Tree algorithm to OMPL, an open-source library of robotic motion planning algorithms. [...]