Welcome to Search-Based Robot Motion Planning (SRMP) documentation!
SRMP is a motion planning software for robotic manipulation, leveraging state-of-the-art search-based algorithms. It ensures consistent and predictable motions, backed by rigorous theoretical guarantees. Additionally, SRMP can efficiently plan for up to dozens of manipulators while guaranteeing collision-free execution—both between robots and with the environment—while maintaining motion consistency and predictability.
Key Features
Multi-Robot Motion Planning: First-of-its-kind support for planning coordinated motions in multi-manipulator systems.
Reliable and Consistent Trajectories: Generates predictable and repeatable motions, making it ideal for high-precision and safety-critical applications.
Seamless Integration: Compatible with major simulators, including MuJoCo, Sapien, Genesis, PyBullet and Isaac.
Multi-Lingual: Available in both Python and C++ for easy integration into research and industrial workflows.
MoveIt! Plugin: Enables deployment on real-world robotic systems with minimal setup.
Getting Started
To install SRMP and begin planning motions for your robotic system, follow our installation guide. Check out the quick start tutorial for an example of how to set up and run SRMP for your application.
Why SRMP?
Existing motion planning frameworks often struggle with the demands of high-stakes applications, where predictability and repeatability are critical. SRMP addresses these challenges by leveraging search-based planning methods, ensuring motions that are both efficient and reliable. Whether you’re working on robotic manipulation, industrial automation, or large-scale multi-robot coordination, SRMP provides a powerful solution tailored to your needs.