Developers {#developers}

OMPL is developed and maintained by the Kavraki Lab at Rice University, led by Dr. Lydia Kavraki. The development is coordinated by Dr. Mark Moll, Dr. Lydia Kavraki (Rice) and Dr. Ioan Șucan (Waymo, formerly Rice). Many others have contributed to OMPL as well, as can be seen below.

Contributors (in alphabetical order)

A breakdown of all contributions by commits can be found on GitHub for the OMPL and OMPL.app repositories. Note that the number of commits or number of lines of code written by a contributor is a far from perfect indicator of the significance of a person’s contributions. Indeed, some significant contributions like the initial RRT* implementation do not even show up on these pages, since this code predates the move to Github. Below is a manually curated list of people who have made significant contributions and the groups they were affiliated with at the time.

• Jennifer Barry, Leslie Pack Kaelbling and Tomás Lozano-Pérez’s Learning in Intelligent Systems Group, MIT (now at Rethink Robotics)

• Prudhvi Boyapalli, Rice University

• Leonard Bruns, Robert Bosch GmbH (now at KTH Royal Institute of Technology)

• Stephen Butler, Rice University

• Beck Chen, Rice University

• Sachin Chitta, SRI International (now at Boston Dynamics)

• Ashley Clark, Steve Rock’s Aerospace Robotics Lab, Stanford University

• Dave Coleman, Nikolaus Correll’s group, University of Colorado Boulder (now at PickNik Robotics)

• Neil Dantam, Rice University (now at Colorado School of Mines)

• Andrew Dobson, Kostas Bekris’ Physics-aware Research for Autonomous Computational SYStems group, Rutgers University

• Elizabeth Fudge, Rice University

• Jonathan Gammell, Tim Barfoot’s Autonomous Space Robotics Lab, University of Toronto (now professor at Oxford)

• Bryant Gipson, Rice University (now at Google)

• Javier V Gomez, Universidad Carlos III de Madrid (now at Magic Leap)

• Florian Hauer, Georgia Tech

• Gil Jones, Google

• Sertac Karaman, Emilio Frazzoli’s Aerospace Robotics and Embedded Systems Laboratory, MIT

• Henning Kayser, PickNik Robotics

• Zachary Kingston, Rice University

• Ryan Luna, Rice University (now at Waymo)

• Matt Maly, Rice University (now at Google)

• James Marble, Kostas Bekris’ Physics-aware Research for Autonomous Computational SYStems group, University of Nevada, Reno

• Andreas Orthey, Max-Planck Institute for Intelligent Systems, Marc Toussaint’s Intelligent & Learning Systems Lab, Technical University of Berlin

• Luigi Palmieri, Robert Bosch GmbH

• Scott Paulin, University of Canterbury, New Zealand

• Alejandro Perez, Seth Teller’s Robotics, Vision, and Sensor Networks Group, MIT

• Oren Salzman, Dan Halperin’s Computational Geometry Lab, Tel Aviv University

• Edward Schmerling, Marco Pavone’s Autonomous Systems Lab, Stanford University

• Jonathan Sobieski, Rice University

• Marlin Strub, Estimation, Search, and Planning group at Oxford

• Sonny Tarbouriech, University of Sherbrooke

• Luis Torres, Ron Alterovitz’ Computational Robotics Group, University of North Carolina at Chapel Hill (now at Google)

• Caleb Voss, Rice University (now at Georgia Tech)

• Bryce Willey, Rice University (now at Realtime Robotics)