The models contained on this page represent our attempt to try to start a collection of benchmark problems that can be used to compare various motion planning algorithms. As such, these models are available for public, non-commercial use provided that appropriate reference is made to the source/creator of the model. Also, if you have any models that you could contribute to this effort, please let us know and we will be happy to post them on this page.

View format documentation and specifications here.

Alpha Puzzle

The alpha puzzle benchmark is a motion planning problem containing a narrow passage. The puzzle consists of two tubes, each twisted into an alpha shape; one ...

Box-Folding

The box folding problem is a motion planning problem containing a narrow passage. The objective is to fold the articulated model into its final box shape. Th...

Bright Building

The Bright Building environment contains the first 4 floors of HRBB. The building consists of many rooms, corridors, and stiarwells. Agents navigating in thi...

Bug Trap

The obstacle (trap) is a three-dimensional bugtrap with a small opening. The robot (bug) is a stick that barely fits through the trap exit. The goal is for t...

Flange Problem

The flange benchmark is a motion planning problem containing a narrow passage. It is representative of a type of problem that might occur in a maintainabilty...

Hedgehog

The Hedgehog environment is a motion planning problem containing a few homotopically different narrow passages that the robot (spiked sphere) can traverse th...

Heterogenous

This environment contains an assortment of obstacles of varying sizes and shapes and also includes a winding narrow passage. The model is available in BYU fo...

L Tunnel

The L tunnel environment contains two L-shaped passages the robot (also L-shaped) must traverse. The model is available in BYU format, with each piece repres...

Maze

The maze environment represents a long narrow passage with branching passages. The goal is to guide the robot from the start to the end through the passages....

Pentomino Puzzle

The Pentomino Puzzle environment was created to test disassembly planning methods. The puzzle is “solved” in its initial (assembled) configuration, and the g...

Periscope Folding Problem

The periscope folding problem is a motion planning problem containing a narrow passage. The objective is to fold the articulated model into its final perisco...

S Tunnel

The S tunnel environment consists of two rectangular prisms. The obstacle is a rectangular prism with a long narrow tunnel removed from it. The robot (rectan...

Serial Walls

The Serial Walls environment consists of a set of walls (with openings) that the stick (the robot) has to traverse.

Simple Obstacles

The simple obstacles environment includes versions with varying obstacle sizes and passage widths. The model is available in BYU format, with each piece repr...

Z Tunnel

The Z tunnel environment contains an obstacle in the shape of a rectangular prism with a single narrow passage removed from the obstacle in the shape of a Z....

Zig-Zag

The Zig-Zag environment represents an easy winding narrow passage which fools many sampling-based planners. It is a nice 2D problem, to study qualities of va...