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Meijer, Jonathan (author), Lei, Q. (author), Wisse, M. (author)This paper identifies high performing motion planners among three manipulators when carrying out grasp executions. Simultaneously, this paper presents useful benchmarking data. Sampling-based motion planners of OMPL available for use in MoveIt! are compared by performing several grasping-related motion planning problems. The performance of the...conference paper 2017
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Meijer, Jonathan (author), Lei, Q. (author), Wisse, M. (author)This paper identifies high-performing Open Motion Planning Library (OMPL) planners for grasp execution and simultaneously presents useful benchmark data. Four grasp executions were defined using a UR5 manipulator. The performance was measured by means of solved runs, computing time and path length. Based on the results, planners are...conference paper 2017
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Lei, Q. (author), Meijer, Jonathan (author), Wisse, M. (author)This paper identifies high-performing Open Motion Planning Library (OMPL) planners for grasp execution and simultaneously presents useful benchmark data. Four grasp executions were defined using a UR5 manipulator. The performance was measured by means of solved runs, computing time and path length. Based on the results, planners are...conference paper 2017