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 (Metron, formerly Rice), Weihang Guo (Rice), Theodoros Tyrovouzis (Rice), Emiliano Flores (Rice), Dr. Zachary Kingston (Purdue University, formerly Rice), Dr. Ioan Șucan (Waymo, formerly Rice), and Dr. Lydia Kavraki (Rice). Many others have contributed to OMPL as well, as shown below.

Contributors (in alphabetical order)

A breakdown of all contributions by commits can be found on GitHub for the OMPL repository. 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 Robotics and AI Institute)

• Prudhvi Boyapalli, Rice University

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

• Stephen Butler, Rice University

• Kyle Cesare, independent

• Beck Chen, Rice University

• Joris Chomarat, Hexagon Robotics

• Sachin Chitta, SRI International (now at AutoDesk)

• 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

• Gaël Écorchard, Czech Technical University in Prague

• Emiliano Flores, Rice University

• Ryan Friedman, Aerovironment, Inc.

• Elizabeth Fudge, Rice University

• Jonathan Gammell, Queen’s University, Canada

• Bryant Gipson, Rice University (now at Google)

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

• Michael Görner, University of Hamburg

• Francesco Grothe, TU Berlin

• Weihang Guo, Rice University

• Valentin Hartmann, University of Stuttgart

• Florian Hauer, Georgia Tech

• Wolfgang Hönig, Technical University Berlin

• Taylan İşleyici, Middle East Technical University

• Gil Jones, Google

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

• Henning Kayser, PickNik Robotics

• Zachary Kingston, Rice University (now at Purdue)

• Jaeyoung Lim, ETHZ

• Ryan Luna, Rice University (now at Waymo)

• Matt Maly, Rice University (now at Google)

• Rhys Mainwaring (independent)

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

• Wolfgang Merkt, University of Oxford

• Mark Moll, Metron

• Johnny Nunez, University of Barcelona

• Andreas Orthey, Realtime Robotics

• Luigi Palmieri, Robert Bosch GmbH

• Scott Paulin, University of Canterbury, New Zealand

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

• Louis Petit, University of Sherbrooke

• Michael Ripperger, SwRI

• Yuri Rocha, MakinaRocks

• Oren Salzman, Dan Halperin’s Computational Geometry Lab, Tel Aviv University (now at Technion)

• Simon Schmeisser, Optonic

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

• Jonathan Sobieski, Rice University

• Marlin Strub, Gravis Robotics

• Sonny Tarbouriech, University of Sherbrooke

• Wil Thomason, Rice University (now at RAI Institute)

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

• Theodoros Tyrovouzis, Rice University

• Jafar Uruç, Humanoid

• Caleb Voss, Rice University (now at OpenText)

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

• Yi Wang, University of New Hampshire

• Tyler Wilson,

• Beverly Xu, UCSD