Abstract In robotics research, it is often difficult to compare and evaluate techniques experimentally. This paper identifies these difficulties and provides solutions based on our work during the last four years in the field of sampling-based motion planning. Reference Roland Geraerts. On Experimental Research in Sampling-based Motion Planning. In (IROS) Workshop on Benchmarks in Robotics Research, 2006, pp. 31-34. Full text: [pdf, ps.gz] Lecture notes: [pdf] Presentation: [ppt] Setting up an experiment in SAMPLE. Software The (Windows) framework can be downloaded here [2.16MB]. The zip file also contains all test environments and robots. Commercial usage is not allowed. On the SAMPLE homepage, you can find more information about the scenes and file formats.