... International Conference on Robotics and Automation (ICRA), May, 2012.
This package uses OMPL planners (http://ompl.kavrakilab.org/) to implement each component in lightning and can be called the same way as any other OMPL planner.
The code was developed at UC Berkeley by Cameron Lee and Dmitry Berenson under the supervision of Prof. Pieter Abbeel and Prof. Ken Goldberg.
Please see the Wiki for instructions on how to install and use lightning: https://sourceforge.net/p/lightningros/wiki/Home/