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The Top 245 Motion Planning Open Source Projects on Github

Categories > Artificial Intelligence > Motion Planning
Awesome Robotics Libraries ⭐ 1,327
😎 A curated list of robotics libraries and software
Fast Planner ⭐ 1,151
A Robust and Efficient Trajectory Planner for Quadrotors
Unity Robotics Hub ⭐ 922
Central repository for tools, tutorials, resources, and documentation for robotics simulation in Unity.
Ompl ⭐ 775
The Open Motion Planning Library (OMPL)
Robotics Toolbox Python ⭐ 669
Robotics Toolbox for Python
Awesome Human Pose Estimation ⭐ 662
Human Pose Estimation Related Publication
Pinocchio ⭐ 653
A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
Phd Bibliography ⭐ 636
References on Optimal Control, Reinforcement Learning and Motion Planning
Teach Repeat Replan ⭐ 516
Teach-Repeat-Replan: A Complete and Robust System for Aggressive Flight in Complex Environments
Robotics Toolbox Matlab ⭐ 514
Robotics Toolbox for MATLAB
Rl ⭐ 492
The Robotics Library (RL) is a self-contained C++ library for rigid body kinematics and dynamics, motion planning, and control.
G2 ⭐ 435
g2core - The Next Generation
Towr ⭐ 414
A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.
Autonomousvehiclepaper ⭐ 355
无人驾驶相关论文速递
Toppra ⭐ 317
robotic motion planning library
Crocoddyl ⭐ 300
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
Rvo2 ⭐ 271
Optimal Reciprocal Collision Avoidance (C++)
Ur5_ros Gazebo ⭐ 230
Universal Robot (UR5) Pick and Place Simulation in ROS-Gazebo with a USB Cam and Vacuum Grippers
Pathfinder ⭐ 230
Cross-Platform, Multi-Use Motion Profiling and Trajectory Generation
Free_gait ⭐ 223
An Architecture for the Versatile Control of Legged Robots
Xpp ⭐ 222
Visualization of Motions for Legged Robots in ros-rviz
Rvo2 Cs ⭐ 209
Optimal Reciprocal Collision Avoidance (C#)
Ruckig ⭐ 205
Motion Generation for Robots and Machines. Real-time. Jerk-constrained. Time-optimal.
Fuel ⭐ 202
An Efficient Framework for Fast UAV Exploration
Gpmp2 ⭐ 197
Gaussian Process Motion Planner 2
Airsim Neurips2019 Drone Racing ⭐ 179
Drone Racing @ NeurIPS 2019, built on Microsoft AirSim
Pybullet Planning ⭐ 174
PyBullet Planning
Aikido ⭐ 170
Artificial Intelligence for Kinematics, Dynamics, and Optimization
Webots_ros2 ⭐ 159
Webots ROS 2 packages
Am_traj ⭐ 153
Alternating Minimization Based Trajectory Generation for Quadrotor Aggressive Flight
Cleanit ⭐ 141
Open-source Autonomy Software in Rust-lang with gRPC for the Roomba series robot vacuum cleaners. Under development.
Rrt Algorithms ⭐ 125
n-dimensional RRT, RRT* (RRT-Star)
Path_planning ⭐ 120
This repository contains path planning algorithms in C++ for a grid based search.
Pddlstream ⭐ 119
PDDLStream: Integrating Symbolic Planners and Blackbox Samplers
Robotics Object Pose Estimation ⭐ 116
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.
Gcopter ⭐ 112
A General-Purpose Trajectory Optimizer for Multicopters
Rvo2 3d ⭐ 110
Optimal Reciprocal Collision Avoidance in Three Dimensions (C++)
Omplapp ⭐ 92
The Open Motion Planning Library (OMPL), GUI + FCL/Assimp integration
Pick Place Robot ⭐ 85
Object picking and stowing with a 6-DOF KUKA Robot using ROS
Hrvo ⭐ 73
The Hybrid Reciprocal Velocity Obstacle (C++)
Slam_and_path_planning_algorithms ⭐ 72
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! :)
Scp_traj_opt ⭐ 71
Sequential Convex Programming Toolbox for nonconvex trajectory optimization.
Robotoc ⭐ 70
Efficient optimal control solvers for robotic systems.
Mpnet ⭐ 63
Motion Planning Networks
Owl ⭐ 63
motion planning algorithms with demos for various state-spaces
Hybrid A Star Annotation ⭐ 62
Hybrid A*路径规划器的代码注释
Robotics Resources ⭐ 60
List of commonly used robotics libraries and packages
Scikit Robot ⭐ 58
A Flexible Framework for Robot Control in Python
Rrt_toolbox ⭐ 53
RRT, RRT*, RRT*FN algorithms for MATLAB
Motion Planners ⭐ 52
Python implementations of several robotic motion planners
Ikfastpy ⭐ 52
Python wrapper over OpenRave's IKFast inverse kinematics solver for a UR5 robot arm.
Piper ⭐ 50
Costar_plan ⭐ 49
Integrating learning and task planning for robots with Keras, including simulation, real robot, and multiple dataset support.
Pyreedsshepp ⭐ 49
Implementation of Reeds Shepp curve.
Matlab Rrt Variants ⭐ 49
RRT*, RRT-connect, lazy RRT and RRT extend have been implemented for 2d and 3d c-spaces with visualization
Ilqgames ⭐ 49
Iterative Linear-Quadratic Games!
Motionplanner ⭐ 49
Motion Planner for Self Driving Cars
Robowflex ⭐ 46
Making MoveIt Easy!
Lqrrt ⭐ 42
Kinodynamic RRT Implementation
Obstacle_avoidance_for_uav ⭐ 42
This is a ROS workspace that creates a trajectory for a UAV to follow passing through a set of given waypoints and avoiding a set of given cylindrical obstacles, using a path planning algorithm.
Dwl ⭐ 40
The Dynamic Whole-body Locomotion library (DWL)
Motion_planning ⭐ 39
Algorithm and model experiments for robot motion planning. Implemented in Julia.
Awesome Decision Making Reinforcement Learning ⭐ 37
A selection of state-of-the-art research materials on decision making and motion planning.
Omg Planner ⭐ 35
An Optimization-based Motion and Grasp Planner
Welding Robot ⭐ 34
30th June, 2019 - 30th June, 2020. Robotics and Machine Intelligence Lab, The Hong Kong Polytechnic University. This work is supported in part by the Chinese National Engineering Research Centre for Steel Construction (Hong Kong Branch) at The Hong Kong Polytechnic University under grant BBV8, in part by the Research Grants Council of Hong Kong under grant 142039/17E and in part by The Hong Kong Polytechnic University under grant G-YBYT
Taichigame ⭐ 33
GPU Accelerated Motion Engine based on Taichi Lang
Topotraj ⭐ 32
A robust UAV local planner based on the ICRA2020 paper: Robust Real-time UAV Replanning Using Guided Gradient-based Optimization and Topological Paths
Highway Path Planning ⭐ 30
My path-planning pipeline to navigate a car safely around a virtual highway with other traffic.
Tesseract_ros ⭐ 29
ROS Interface for the Tesseract Planning Environment.
Fast Racing ⭐ 28
An Open-source Strong Baseline for SE(3) Planning in Autonomous Drone Racing
Ss Replan ⭐ 27
Online Replanning in Belief Space for Partially Observable Task and Motion Problems
Pontryagin Differentiable Programming ⭐ 26
A unified end-to-end learning and control framework that is able to learn a (neural) control objective function, dynamics equation, control policy, or/and optimal trajectory in a control system.
Trajopt ⭐ 25
A toolbox for trajectory optimization of dynamical systems
Contactimplicitmpc.jl ⭐ 25
Fast contact-implicit model-predictive control for robotic systems that make and break contact with their environments.
Motion_planning ⭐ 25
Motion Planning Library to accompany turtlebot3_from_scratch repository. Deployed PRM, Grid Map, A*, Theta*, LPA*, D* Lite*, Potential Field, and MPPI.
Deep_grasp_demo ⭐ 25
Deep learning for grasp detection within MoveIt.
Bench Mr ⭐ 24
Motion Planning Benchmark
Lqr Rrtstar ⭐ 24
LQR-RRT* method is used for random motion planning of a simple pendulum in it's phase plot
Pylqr ⭐ 23
An implementation of iLQR for trajectory synthesis and control
Ue4_towr ⭐ 21
Visualize Legged Robot Trajectories with Unreal Engine
Dexvt Lite ⭐ 21
3D Inverse Kinematics with Constraints and... GPU Ray Tracing!
Robot ⭐ 20
Functions and classes for gradient-based robot motion planning, written in Ivy.
Dynamicwindowapproach ⭐ 19
The Dynamic Window Approach planning algorithm written in C with Python Bindings
S Curve Planner ⭐ 18
C Library for planning n-th order S-curve motion profiles
Hector Moveit ⭐ 18
Hector Quadrotor with MoveIt! Motion Planning Framework
Tora.jl ⭐ 18
Trajectory Optimization for Robot Arms
Avo2 ⭐ 18
Reciprocal Collision Avoidance with Acceleration-Velocity Obstacles (C++)
The Cooper Mapper ⭐ 17
An open source autonomous driving research platform for Active SLAM & Multisensor Data Fusion
Adam ⭐ 17
ADAM implements a collection of algorithms for calculating rigid-body dynamics in Jax, CasADi, PyTorch, and Numpy.
Efficient Motion Planning ⭐ 17
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 planning algorithms. Besides, most motion planning methods cannot find the desired trajectory under extreme scenarios (e.g., lane change in crowded traffic scenarios). This study proposed an efficient motion planning strategy for automated lane change based on Mixed-Integer Quadratic Optimization (MIQP) and Neural Networks. We modeled the lane change task as a mixed-integer quadratic optimization problem with logical constraints, which allows the planning module to generate feasible, safe and comfortable driving actions for lane changing process. Then, a hierarchical machine learning structure that consists of SVM-based classification layer and NN-based action learning layer is established to generate desired driving policies that can make online, fast and generalized motion planning. Our model is validated in crowded lane change scenarios through numerical simulations and results indicate that our model can provide optimal and efficient motion planning for automated vehicles
Virtual Lane Boundary Generation ⭐ 16
Virtual Lane Boundary Generation for Human-Compatible Autonomous Driving
Fcnd Term1 P2 3d Motion Planning ⭐ 16
Udacity Flying Car Nanodegree - Term 1 - Project 2 - 3D Motion Planning
Sbpl_dynamic_adaptive_planner ⭐ 16
Code for path planning in dynamic environments with adaptive dimensionality
Rvo2 Java ⭐ 15
Optimal Reciprocal Collision Avoidance (Java)
Clf_reactive_planning_system ⭐ 15
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 cope with robot deviations. The planning system allowed Cassie Blue to autonomously traverse sinusoidally varying terrain. More experiments are still being conducted and this repo and the paper will be updated accordingly.
Gennav ⭐ 15
Python Package for Robot Navigation
Iterativelqr.jl ⭐ 13
A Julia package for constrained iterative LQR (iLQR)
Flying Cars ⭐ 13
Contains Flying Car Nanodegree Projects
Flyingcarudacity ⭐ 13
🛩️⚙️ 3D Planning, PID Control, Extended Kalman Filter for the Udacity Flying Car Nanodegree // FCND-Term1
Learn To Calibrate ⭐ 13
We utilize deep reinforcement learning to obtain favorable trajectories for visual-inertial system calibration.
1-100 of 245 projects

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Path Planning Motion Projects (2)
Advertising 📦 9
All Projects
Application Programming Interfaces 📦 120
Applications 📦 181
Artificial Intelligence 📦 72
Blockchain 📦 70
Build Tools 📦 111
Cloud Computing 📦 79
Code Quality 📦 28
Collaboration 📦 30
Command Line Interface 📦 48
Community 📦 81
Companies 📦 60
Compilers 📦 60
Computer Science 📦 74
Configuration Management 📦 39
Content Management 📦 167
Control Flow 📦 197
Data Formats 📦 77
Data Processing 📦 266
Data Storage 📦 132
Economics 📦 60
Frameworks 📦 198
Games 📦 122
Graphics 📦 103
Hardware 📦 148
Integrated Development Environments 📦 47
Learning Resources 📦 147
Legal 📦 28
Libraries 📦 119
Lists Of Projects 📦 21
Machine Learning 📦 336
Mapping 📦 61
Marketing 📦 15
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Media 📦 228
Messaging 📦 97
Networking 📦 304
Operating Systems 📦 84
Operations 📦 120
Package Managers 📦 52
Programming Languages 📦 229
Runtime Environments 📦 96
Science 📦 42
Security 📦 375
Social Media 📦 26
Software Architecture 📦 70
Software Development 📦 68
Software Performance 📦 57
Software Quality 📦 127
Text Editors 📦 45
Text Processing 📦 131
User Interface 📦 310
User Interface Components 📦 465
Version Control 📦 29
Virtualization 📦 68
Web Browsers 📦 38
Web Servers 📦 25
Web User Interface 📦 194
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