Top 70 motion-planning open source projects

Cross-Platform, Multi-Use Motion Profiling and Trajectory Generation

Drone Racing @ NeurIPS 2019, built on Microsoft AirSim

Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms

Universal Robot (UR5) Pick and Place Simulation in ROS-Gazebo with a USB Cam and Vacuum Grippers

Optimal Reciprocal Collision Avoidance (C#)

n-dimensional RRT, RRT* (RRT-Star)

Hybrid A*路径规划器的代码注释

Visualization of Motions for Legged Robots in ros-rviz

Gaussian Process Motion Planner 2

Alternating Minimization Based Trajectory Generation for Quadrotor Aggressive Flight

Artificial Intelligence for Kinematics, Dynamics, and Optimization

Object picking and stowing with a 6-DOF KUKA Robot using ROS

Open-source Autonomy Software in Rust-lang with gRPC for the Roomba series robot vacuum cleaners. Under development.

Optimal Reciprocal Collision Avoidance in Three Dimensions (C++)

PyBullet Planning

motion planning algorithms with demos for various state-spaces

The Open Motion Planning Library (OMPL), GUI + FCL/Assimp integration

This repository contains path planning algorithms in C++ for a grid based search.

😎 A curated list of robotics libraries and software

A selection of state-of-the-art research materials on decision making and motion planning.

A robust UAV local planner based on the ICRA2020 paper: Robust Real-time UAV Replanning Using Guided Gradient-based Optimization and Topological Paths

The Dynamic Window Approach planning algorithm written in C with Python Bindings

Human Pose Estimation Related Publication

A Robust and Efficient Trajectory Planner for Quadrotors

Robotics Toolbox for MATLAB

The Open Motion Planning Library (OMPL)

References on Optimal Control, Reinforcement Learning and Motion Planning

Central repository for tools, tutorials, resources, and documentation for robotics simulation in Unity.

g2core - The Next Generation

A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives

A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.

Teach-Repeat-Replan: A Complete and Robust System for Aggressive Flight in Complex Environments

无人驾驶相关论文速递

The Robotics Library (RL) is a self-contained C++ library for rigid body kinematics and dynamics, motion planning, and control.

Robotics Toolbox for Python

Optimal Reciprocal Collision Avoidance (C++)

An Architecture for the Versatile Control of Legged Robots

robotic motion planning library

This package provides a CLF-based reactive planning system, described in paper: Efficient Anytime CLF Reactive Planning System for a Bipedal Robot on Undulating Terrain. The reactive planning system consists of a 5-Hz planning thread to guide a robot to a distant goal and a 300-Hz Control-Lyapunov-Function-based (CLF-based) reactive thread to co…

Reciprocal Collision Avoidance with Acceleration-Velocity Obstacles (C++)

GPU Accelerated Motion Engine based on Taichi Lang.

Trajectory Optimization for Robot Arms

This repository contains the solutions to all the exercises for the MOOC about SLAM and PATH-PLANNING algorithms given by professor Claus Brenner at Leibniz University. This repository also contains my personal notes, most of them in PDF format, and many vector graphics created by myself to illustrate the theoretical concepts. Hope you enjoy it! :)

Functions and classes for gradient-based robot motion planning, written in Ivy.

Iterative Linear-Quadratic Games!

To guarantee safe and efficient driving for automated vehicles in complicated traffic conditions, the motion planning module of automated vehicles are expected to generate collision-free driving policies as soon as possible in varying traffic environment. However, there always exist a tradeoff between efficiency and accuracy for the motion plann…

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The Hybrid Reciprocal Velocity Obstacle (C++)

An Efficient Multi-Robot Trajectory Planner for Ground Vehicles.

Motion Planning Benchmark

Motion Planning Networks

A Julia package for constrained iterative LQR (iLQR)

A complete end-to-end demonstration in which we collect training data in Unity and use that data to train a deep neural network to predict the pose of a cube. This model is then deployed in a simulated robotic pick-and-place task.

A Flexible Framework for Robot Control in Python

An open source autonomous driving research platform for Active SLAM & Multisensor Data Fusion

🛩️⚙️ 3D Planning, PID Control, Extended Kalman Filter for the Udacity Flying Car Nanodegree // FCND-Term1

My path-planning pipeline to navigate a car safely around a virtual highway with other traffic.

Fast contact-implicit model-predictive control for robotic systems that make and break contact with their environments.

Making MoveIt Easy!

Motion Planner for Self Driving Cars