A reactive motion planning approach: control aware plan AEROARMS

The motion planning approach has been blended with the inverse kinematics. With the purpose to take the advantages of both. Then the idea is to have a motion planning able to change reactively the current path on the basis of the constraints and the environment changes. The planner is based on the OMPL library, and the blender game engine has been used as GUI interface. A preliminary results is shown in this video