stomp_core Documentation


This package provides the core STOMP (Stochastic Trajectory Optimization for Motion Planning) algorithm that can be used for robot motion planning tasks or other similar optimization tasks


This package contains the STOMP Core algorithm. The acronym STOMP stands for "Stochastic Trajectory Optimization for Motion Planning". This planner can produce smooths, collision-free paths for high-dimensional robotic systems that satisfy various task constraints in order to minimize energy consumption or optimize other user-chosen criteria. STOMP leverages gradient-free optimization and path integral reinforcement learning techniques (Policy Improvement with Path Integrals, Theodorou et al, 2010).


Software License Agreement (Apache License)

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.


stomp_core examples

Author(s): Jorge Nicho
autogenerated on Fri May 8 2020 03:35:43