Torus Directory Reference

Detailed Description

A ball moving on a torus with many obstacles. We use this benchmark to test path planning algorithms since, due to its simplicity it is straightforward to visualize the results.

We performed different experiments on this problem:

• torus.world The start and goal configurations can only be connected crossing a narrow corridor.
• torus2.world A simpler problem where there is a long, easy to find path to the goal and a shorter path (but across a narrow corridor which is harder to find). We use this problem to test asymptotically-optimal planners on manifolds

Files
file	torus.world [code]
	A point moving on a torus with obstacles.
file	torus2.world [code]
	A point moving on a torus with obstacles.