MPK Documents

• For a general description and overall design, please read:
  • MPK: an open extensible motion planning kernel. I. Gipson, Kamal Gupta, M. Greenspan. Journal of Robotic Systems, v 18, n 8, p.433-43, Aug. 2001.
  • Design, Development & Implementation of the MPK, a Motion Plannung Kernel. I. Gipson. Undergraduate Thesis, 1999.


• For examples of adding new components, please read:
  • Additional Planners for the Motion Planning Kernel. Shane D. Schneider. Undergraduate Thesis, 2001.


• For detailed code structure, class hierarchy, etc., please read:
  • Document generated by Doxygen.


• For related research done by using MPK as simulation, please see related publications.