MSL
Motion Strategy Library
The Motion Strategy Library (MSL) allows easy development and testing of motion planning algorithms for a wide variety of applications. The software architecture is object-oriented and the general design is highly modular. Presently MSL includes planners based on Rapidly-exploring Random Trees (RRTs), Probabilistic Roadmaps (PRMs), and Forward Dynamic Programming (FDP).
http://msl.cs.uiuc.edu/msl/