HMP Library

Kino-Dynamic Planner Library

The High Maneuverability Planner (HMP) Library is a collection of planning algorithms for small mobile robots that endow them with unprecedented levels of mobility in both indoor and outdoor environments.

The planners can be easily adapted to different types of platforms and configured to be compliant with a robot’s kinematic constraints. Their performance is especially impressive in tight spaces and cluttered environments¬†where they allow a robot to successfully navigate dense obstacles fields and maneuver through small openings. Supported by powerful simulation tools, experimental versions of this technology have also been developed for ships and large UGVs.