MPK: An open extensible motion planning kernel
Ian Gipson, Kamal Kant Gupta, Michael Greenspan · Journal of Robotic Systems · 2001
Abstract The motion planning kernel (MPK) is a software system designed to facilitate development, testing, and comparison of robotic and geometric reasoning algorithms. Examples of such algorithms include automatic path planning, grasping, etc. The system has been designed to be open and extensible, so that new methods can be easily added and compared on the same platform. © 2001 John Wiley & Sons, Inc.