The Open Motion Planning Library: 40+ state-of-the-art sampling-based planners (RRT-Connect, RRT*, PRM*, KPIECE, FMT*, AIT*) as a robot-agnostic C++/Python library — the planning core inside MoveIt and many industrial stacks.
The Open Motion Planning Library: 40+ state-of-the-art sampling-based planners (RRT-Connect, RRT*, PRM*, KPIECE, FMT*, AIT*) as a robot-agnostic C++/Python library — the planning core inside MoveIt and many industrial stacks.
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OMPL from the Kavraki Lab at Rice University is the reference implementation of sampling-based motion planning. It provides a clean abstraction over state spaces, samplers and planners — more than 40 algorithms including RRT-Connect, RRT*, Informed RRT*, PRM/PRM*, KPIECE, EST, FMT*, BIT*/AIT*/ABIT* — while staying deliberately robot-agnostic: collision checking and dynamics are supplied by the host application (MoveIt, custom industrial stacks, research frameworks). OMPL 2.0 (June 2026) modernizes the core and Python bindings. It has been the planning engine behind countless research papers and production manipulators for over a decade.
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