OMPL looks like it will be useful for piano movers, robots and robotic piano movers. ROS integration in the near future will be useful and hopefully will enable integration of voxel grids and OctoMap into the motion planning system so it can use live data from 3D sensors.
As more of the components required for 3D robotics are being developed and released as open-source software, it will be interesting to see if the hardware keeps up or if we end up waiting for Moore's law to enable real-time functionality.
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