Software
MPNN: A Nearest-Neighbor Library for Motion Planning
A C++ library that uses Kd-trees adapted to topological spaces that arise in motion planning. This enables fast nearest-neighbor computations in sampling-based motion planning algorithms.
Sampling the Space of 3D Rotations, SO(3)
A C++ library that generates sequences of samples that are close to uniform and have regular neighborhood structure.I have also contributed to the Motion Strategy Library and the original Oculus VR SDK (source code no longer distributed).