Motion planning has evolved from coping with simply geometric problems tophysics-based ones that incorporate the kinodynamic and the physicalconstraints imposed by the robot and the physical world. Therefore, thecriteria for evaluating physics-based motion planners goes beyond thecomputational complexity (e.g. in terms of planning time) usually used as ameasure for evaluating geometrical planners, in order to consider also thequality of the solution in terms of dynamical parameters. This study proposesan evaluation criteria and analyzes the performance of several kinodynamicplanners, which are at the core of physics-based motion planning, usingdifferent scenarios with fixed and manipulatable objects. RRT, EST, KPIECE andSyCLoP are used for the benchmarking. The results show that KPIECE computes thetime-optimal solution with heighest success rate, whereas, SyCLoP compute themost power-optimal solution among the planners used.
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