If you use OMPL in your research, we kindly ask you to include the following citation in your publications:
-
Ioan A. Șucan, Mark Moll, Lydia E. Kavraki, The Open Motion Planning Library, IEEE Robotics & Automation Magazine, 19(4):72–82, December 2012. https://ompl.kavrakilab.org
@article{sucan2012the-open-motion-planning-library,
Author = {Ioan A. {\c{S}}ucan and Mark Moll and Lydia E. Kavraki},
Doi = {10.1109/MRA.2012.2205651},
Journal = {{IEEE} Robotics \& Automation Magazine},
Month = {December},
Number = {4},
Pages = {72--82},
Title = {The {O}pen {M}otion {P}lanning {L}ibrary},
Note = {\url{https://ompl.kavrakilab.org}},
Volume = {19},
Year = {2012}
}
If you use the OMPL Python bindings, then we kindly ask you to include the following citation in your publications:
-
Weihang Guo, Theodoros Tyrovouzis, and Lydia E. Kavraki, Python Bindings for a Large C++ Robotics Library: The Case of OMPL, 2026 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2026.
@inproceedings{guo2026ompl-python,
Author = {Weihang Guo and Theodoros Tyrovouzis and Lydia E. Kavraki},
Title = {Python Bindings for a Large C++ Robotics Library: The Case of OMPL},
Booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
Year = {2026}
}
If you use the OMPL benchmarking facilities or Planner Arena, then we kindly ask you to include the following citation in your publications:
-
Mark Moll, Ioan A. Șucan, Lydia E. Kavraki, Benchmarking Motion Planning Algorithms: An Extensible Infrastructure for Analysis and Visualization, IEEE Robotics & Automation Magazine, 22(3):96–102, September 2015.
@article{moll2015benchmarking-motion-planning-algorithms,
Author = {Mark Moll and Ioan A. {\c{S}}ucan and Lydia E. Kavraki},
Doi = {10.1109/MRA.2015.2448276},
Journal = {{IEEE} Robotics \& Automation Magazine},
Month = {September},
Number = {3},
Pages = {96--102},
Title = {Benchmarking Motion Planning Algorithms: An Extensible Infrastructure for Analysis and Visualization},
Volume = {22},
Year = {2015}
}
If you use the constrained planning capabilities of OMPL, then we kindly ask you to include the following citation in your publications:
-
Zachary Kingston, Mark Moll, and Lydia E. Kavraki, Exploring Implicit Spaces for Constrained Sampling-Based Planning, International Journal of Robotics Research, 38(10–11):1151–1178, September 2019.
@article{kingston2019exploring-implicit-spaces-for-constrained,
author = "Kingston, Zachary and Moll, Mark and Kavraki, Lydia E.",
doi = "10.1177/0278364919868530",
journal = "Intl.\ J.\ of Robotics Research",
month = sep,
number = "10--11",
pages = "1151--1178",
title = "Exploring Implicit Spaces for Constrained Sampling-Based Planning",
volume = "38",
year = "2019"
}
If you use the VAMP SIMD acceleration feature, then we kindly ask you to include the following citation in your publications:
-
Wil Thomason, Zachary Kingston, and Lydia E. Kavraki, “Motions in Microseconds via Vectorized Sampling-Based Planning,” in IEEE International Conference on Robotics and Automation (ICRA), 2024, pp. 8749–8756.
@inproceedings{thomason2024vamp,
author = "Thomason, Wil and Kingston, Zachary and Kavraki, Lydia E.",
booktitle = "IEEE Intl.\ Conf.\ on Robotics and Automation (ICRA)",
title = "Motions in Microseconds via Vectorized Sampling-Based Planning",
year = "2024",
pages = "8749-8756",
doi = "10.1109/ICRA57147.2024.10611190"
}