Motion Planning Benchmarks | Algorithms & Applications Group

Algorithms & Applications Group
Motion Planning Puzzles
(aka benchmarks)

The models contained on this page represent our attempt to try to start a collection of benchmark problems that can be used to compare various motion planning algorithms. As such, these models are available for public, non-commercial use provided that appropriate reference is made to the source/creator of the model. Also, if you have any models that you could contribute to this effort, please let us know and we will be happy to post them on this page.

Alpha Puzzle
Provided by Boris Yamrom, GE Corporate Research & Development Center
The alpha puzzle benchmark is a motion planning problem containing a narrow passage. The puzzle consists of two tubes, each twisted into an alpha shape; one tube is the obstacle and the other the moving object (robot). The objective is to separate the intertwined tubes.

Box Folding Problem
Created by Guang Song, Parasol Lab, Texas A&M University
The box folding problem is a motion planning problem containing a narrow passage. The objective is to fold the articulated model into its final box shape. There are no external obstacles in the enviroment, but self-collision among the links (connected by revolute joints) must be avoided.

Bug-Trap
Created by Parasol Lab, Texas A&M University
The objective is to take the bug robot outside of the trap obstacle throught the narrow passage.

Flange Problem
Provided by GE Corporate Research & Development Center
The flange benchmark is a motion planning problem containing a narrow passage. It is representative of a type of problem that might occur in a maintainabilty study of a mechicanical CAD design. The environment consists of a fixed rectangular part with a circular opening (the obstacle) and an elbow shaped curved pipe (the robot) that must be inserted into the opening in the obstacle.

Periscope Folding Problem
Created by Guang Song, Parasol Lab, Texas A&M University
The periscope folding problem is a motion planning problem containing a narrow passage. The objective is to fold the articulated model into its final periscope shape. There are no external obstacles in the enviroment, but self-collision among the links (connected by revolute joints) must be avoided.

Pentomino Puzzle
Created by Ian Remmler, Parasol Lab, Texas A&M University
The Pentomino Puzzle environment was created to test disassembly planning methods. The puzzle is "solved" in its initial (assembled) configuration, and the goal is to disassemble the puzzle by moving each piece an arbitrary distance away from all other pieces.

Serial Walls
Created by Parasol Lab, Texas A&M University
The Serial Walls environment consists of a set of walls (with openings) that the stick (the robot) has to traverse.

S Tunnel
Created by Parasol Lab, Texas A&M University
The S tunnel environment consists of two elongated cubes. The obstacle is an elongated cube with a long narrow tunnel incisioned in it. The robot is another small cube.

Z Tunnel
Created by Parasol Lab, Texas A&M University
The Z tunnel environment contains an obstacle with a single narrow passage shaped like a Z. The robot is a small cube.

L Tunnel
Created by Parasol Lab, Texas A&M University
The L tunnel environment contains two L-shaped passages the robot (also L-shaped) must traverse.

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	Alpha Puzzle Provided by Boris Yamrom, GE Corporate Research & Development Center The alpha puzzle benchmark is a motion planning problem containing a narrow passage. The puzzle consists of two tubes, each twisted into an alpha shape; one tube is the obstacle and the other the moving object (robot). The objective is to separate the intertwined tubes.
	Box Folding Problem Created by Guang Song, Parasol Lab, Texas A&M University The box folding problem is a motion planning problem containing a narrow passage. The objective is to fold the articulated model into its final box shape. There are no external obstacles in the enviroment, but self-collision among the links (connected by revolute joints) must be avoided.
	Bug-Trap Created by Parasol Lab, Texas A&M University The objective is to take the bug robot outside of the trap obstacle throught the narrow passage.
	Flange Problem Provided by GE Corporate Research & Development Center The flange benchmark is a motion planning problem containing a narrow passage. It is representative of a type of problem that might occur in a maintainabilty study of a mechicanical CAD design. The environment consists of a fixed rectangular part with a circular opening (the obstacle) and an elbow shaped curved pipe (the robot) that must be inserted into the opening in the obstacle.
	Periscope Folding Problem Created by Guang Song, Parasol Lab, Texas A&M University The periscope folding problem is a motion planning problem containing a narrow passage. The objective is to fold the articulated model into its final periscope shape. There are no external obstacles in the enviroment, but self-collision among the links (connected by revolute joints) must be avoided.
	Pentomino Puzzle Created by Ian Remmler, Parasol Lab, Texas A&M University The Pentomino Puzzle environment was created to test disassembly planning methods. The puzzle is "solved" in its initial (assembled) configuration, and the goal is to disassemble the puzzle by moving each piece an arbitrary distance away from all other pieces.
	Serial Walls Created by Parasol Lab, Texas A&M University The Serial Walls environment consists of a set of walls (with openings) that the stick (the robot) has to traverse.
	S Tunnel Created by Parasol Lab, Texas A&M University The S tunnel environment consists of two elongated cubes. The obstacle is an elongated cube with a long narrow tunnel incisioned in it. The robot is another small cube.
	Z Tunnel Created by Parasol Lab, Texas A&M University The Z tunnel environment contains an obstacle with a single narrow passage shaped like a Z. The robot is a small cube.
	L Tunnel Created by Parasol Lab, Texas A&M University The L tunnel environment contains two L-shaped passages the robot (also L-shaped) must traverse.