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).
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