OpenMORE: an open-source tool for sampling-based path replanning in ROS

With the spread of robots in unstructured, dynamic environments, the topic of path replanning has gained importance in the robotics community. Although the number of replanning strategies has significantly increased, there is a lack of agreed-upon libraries and tools, making the use, development, and benchmarking of new algorithms arduous. This paper introduces OpenMORE, a new open-source ROS-based C++ library for sampling-based path replanning algorithms. The library builds a framework that allows for continuous replanning and collision checking of the traversed path during the execution of the robot trajectory. Users can solve replanning tasks exploiting the already available algorithms and can easily integrate new ones, leveraging the library to manage the entire execution.

Anytime informed path re-planning and optimization for robots in changing environments

In this paper, we propose a path re-planning algorithm that makes robots able to work in scenarios with moving obstacles. The algorithm switches between a set of pre-computed paths to avoid collisions with moving obstacles. It also improves the current path in an anytime fashion. The use of informed sampling enhances the search speed. Numerical results show the effectiveness of the strategy in different simulation scenarios.