Leveraging C++ for Efficient Motion Planning: RRT Algorithm for Robotic Arms

This conference talk explores how to optimize motion planning for robotic arms using C++ and the RRT algorithm. Aditi Pawaskar demonstrates how motion planning algorithms are essential for robot navigation in complex environments, focusing on determining optimal trajectories to minimize cycle time and maximize throughput. Learn about the transition from naive code implementation to modern C++ practices, with detailed code snippets illustrating the transformation from legacy to contemporary paradigms. Discover how to identify challenges in legacy code, master essential modern C++ concepts for motion planning optimization, and quantify performance improvements through metric comparisons. The presentation encourages the integration of design patterns into robotics programming, providing practical insights for implementing efficient motion planning solutions for robotic arms.