From Dmitry Berenson
We're happy to announce a new package that uses a robot's previous experience to plan paths faster than planning-from-scratch alone.
The package is called LightningROS, and it is an implementation of the Lightning Path Planning Framework described in this paper:
A Robot Path Planning Framework that Learns from Experience Dmitry Berenson, Pieter Abbeel, and Ken Goldberg IEEE International Conference on Robotics and Automation (ICRA), May, 2012. http://automation.berkeley.edu/~berenson/lightning.pdf
This package uses OMPL planners to implement each component in lightning and can be called the same way as any other OMPL planner.
The package website is here: http://sourceforge.net/projects/lightningros/ .
The wiki describing installation, examples, etc. is here: https://sourceforge.net/p/lightningros/wiki/Home/
Please join our users list (click the Mailing Lists tab on the http://sourceforge.net/projects/lightningros/ page) to post questions/comments, we'd love to hear your feedback!
The code was developed at UC Berkeley by Cameron Lee and Dmitry Berenson under the supervision of Prof. Pieter Abbeel and Prof. Ken Goldberg.