OMPL

A high-performance C++ library providing over 50 sampling-based motion planning algorithms for complex robotic systems.

OMPL (Open Motion Planning Library) provides a collection of state-of-the-art sampling-based algorithms (like RRT* and PRM) for high-dimensional configuration spaces. Developed at Rice University and integrated into the MoveIt framework, it handles the heavy lifting of pathfinding for systems ranging from 7-DOF industrial arms to autonomous mobile bases. The library remains hardware-agnostic by decoupling the planning logic from collision checking and state validation. With a clean C++ API and Python bindings, OMPL is the go-to engine for developers building reliable motion pipelines in ROS and beyond.

https://ompl.kavrakilab.org/