PlaCo: a QP-based robot planning and control framework
Marc Duclusaud, Gr\'egoire Passault, Vincent Padois, Olivier Ly
TL;DR
PlaCo is a versatile software framework that simplifies the development of QP-based planning and control algorithms for robots, supporting both Python and C++ for flexibility and performance.
Contribution
It introduces a high-level, modular interface for formulating QP problems, making robot planning and control more accessible and efficient.
Findings
Enables rapid prototyping with Python bindings.
Supports real-time control with C++ implementation.
Simplifies the formulation of complex robotic tasks.
Abstract
This article introduces PlaCo, a software framework designed to simplify the formulation and solution of Quadratic Programming (QP)-based planning and control problems for robotic systems. PlaCo provides a high-level interface that abstracts away the low-level mathematical formulation of QP problems, allowing users to specify tasks and constraints in a modular and intuitive manner. The framework supports both Python bindings for rapid prototyping and a C++ implementation for real-time performance.
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Taxonomy
TopicsRobotic Path Planning Algorithms · Formal Methods in Verification · AI-based Problem Solving and Planning