Primer to the Search-Based Planning Library (SBPL)
Learn the basic theory behind graph search and SBPL.
This has a brief overview of how SBPL is organized.
Planning with SBPL: Example in X, Y, Theta State Space
This has example code for planning with a 2d footprint of a robot in X, Y, and theta dimensions.
Navigation with SBPL
This builds on the previous tutorial to handle exploring an unknown environment.
Kinematic Constraints and Motion Primitives
An introduction to how kinematic constraints are dealt with in SBPL.
Generating Motion Primitives
How to use the Matlab scripts in SBPL to generate custom motion primitives.