A Julia package for solving two-point boundary value problems (TPBVPs) via kinodynamic motion planning.
⚠️ Work in progressThis repository is actively being developed and the API, files, and examples may change without notice. Use at your own risk.
DynamicPlanning.jl will provide fast, flexible implementations of baseline and cutting-edge asymptotically optimal kinodynamic motion planners with coming support for temporal logic.
using Pkg
Pkg.add("https://github.com/JuliaDifferentialGames/DynamicPlanning.jl.git")If you use this package in your research, please cite:
@software{dynamicplanning_jl,
author = {Outland, Bennet},
title = {DynamicPlanning.jl: Kinodynamic Motion Planning in Julia},
year = {2025},
url = {https://github.com/BennetOutland/DynamicPlanning.jl}
}MIT License - see LICENSE file for details.
This package follows the design principles of the SciML ecosystem and draws inspiration from:
- MotionPlanning.jl
- DifferentialEquations.jl
- Optimization.jl
Generative AI, Claude, was used in the creation of this library as a programming aid including guided code generation, assistance with performance optimization, and for assistance in writing documentation. All code and documentation included in this repository, whether written by the author(s) or generative AI, has been reviewed by the author(s) for accuracy and has completed a verification and validation process upon release.