cff-version: 1.2.0
message: "If you use this software, please cite it as below."
license: "BSD-3-Clause"
authors:
- family-names: "Șucan"
  given-names: "Ioan A."
- family-names: "Kingston"
  given-names: "Zachary"
  orcid: https://orcid.org/0000-0002-3896-5110
- family-names: "Moll"
  given-names: "Mark"
  orcid: "https://orcid.org/0000-0002-0451-2797"
- family-names: "Kavraki"
  given-names: "Lydia E."
  orcid: https://orcid.org/0000-0003-0699-8038
title: "The Open Motion Planning Library"
url: "https://ompl.kavrakilab.org"
references:
  - type: article
    authors:
    - family-names: "Șucan"
      given-names: "Ioan A."
    - family-names: "Moll"
      given-names: "Mark"
      orcid: "https://orcid.org/0000-0002-0451-2797"
    - family-names: "Kavraki"
      given-names: "Lydia E."
      orcid: https://orcid.org/0000-0003-0699-8038
    doi: "10.1109/MRA.2012.2205651"
    journal: "IEEE Robotics & Automation Magazine"
    month: 12
    start: 72
    end: 82
    title: "The Open Motion Planning Library"
    issue: 4
    volume: 19
    year: 2012
    scope: "Original publication describing OMPL design"
  - type: article
    authors:
    - family-names: "Moll"
      given-names: "Mark"
      orcid: "https://orcid.org/0000-0002-0451-2797"
    - family-names: "Șucan"
      given-names: "Ioan A."
    - family-names: "Kavraki"
      given-names: "Lydia E."
      orcid: https://orcid.org/0000-0003-0699-8038
    doi: 10.1109/MRA.2015.2448276
    journal: "IEEE Robotics & Automation Magazine"
    month: 9
    start: 96
    end: 102
    title: "Benchmarking Motion Planning Algorithms: An Extensible Infrastructure for Analysis and Visualization"
    issue: 3
    volume: 22
    year: 2025
    scope: "Reference for OMPL's benchmarking capabilities and Planner Arena"
  - type: article
    authors:
    - family-names: "Kingston"
      given-names: "Zachary K."
      orcid: https://orcid.org/0000-0002-3896-5110
    - family-names: "Moll"
      given-names: "Mark"
      orcid: "https://orcid.org/0000-0002-0451-2797"
    - family-names: "Kavraki"
      given-names: "Lydia E."
      orcid: https://orcid.org/0000-0003-0699-8038
    doi: "10.1177/0278364919868530"
    journal: International Journal of Robotics Research
    month: 9
    start: 1151
    end: 1178
    title: "Exploring Implicit Spaces for Constrained Sampling-Based Planning"
    volume: 38
    year: 2019
    scope: "Reference for OMPL's constrained motion planning capabilities"
  - type: conference-paper
    authors:
    - family-names: "Thomason"
      given-names: "Wil"
      orcid: "https://orcid.org/0000-0001-6200-9762"
    - family-names: "Kingston"
      given-names: "Zachary K."
      orcid: https://orcid.org/0000-0002-3896-5110
    - family-names: "Kavraki"
      given-names: "Lydia E."
      orcid: https://orcid.org/0000-0003-0699-8038
    doi: "10.1109/ICRA57147.2024.10611190"
    conference:
      name: "IEEE International Conference on Robotics and Automation (ICRA)"
    start: 8749
    end: 8756
    title: "Motions in Microseconds via Vectorized Sampling-Based Planning"
    year: 2024
    scope: "Reference for VAMP"
preferred-citation:
  type: article
  authors:
  - family-names: "Șucan"
    given-names: "Ioan A."
  - family-names: "Moll"
    given-names: "Mark"
    orcid: "https://orcid.org/0000-0002-0451-2797"
  - family-names: "Kavraki"
    given-names: "Lydia E."
    orcid: https://orcid.org/0000-0003-0699-8038
  doi: "10.1109/MRA.2012.2205651"
  journal: "IEEE Robotics & Automation Magazine"
  month: 12
  start: 72
  end: 82
  title: "The Open Motion Planning Library"
  issue: 4
  volume: 19
  year: 2012