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Search results for robotics motion planning

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101 search results found

Awesome Robotics Libraries ⭐ 1,953

😎 A curated list of robotics libraries and software

Robotics Toolbox Python ⭐ 1,729

Robotics Toolbox for Python

Unity Robotics Hub ⭐ 1,684

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

Pinocchio ⭐ 1,331

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

Symforce ⭐ 1,282

Fast symbolic computation, code generation, and nonlinear optimization for robotics

The Open Motion Planning Library (OMPL)

Ros_motion_planning ⭐ 1,252

Motion planning and Navigation of AGV/AMR：ROS planner plugin implementation of A*, JPS, D*, LPA*, D* Lite, Theta*, RRT, RRT*, RRT-Connect, Informed RRT*, ACO, PSO, Voronoi, PID, DWA, APF, Pure Pursuit etc.

Path_planner ⭐ 1,187

Hybrid A* Path Planner for the KTH Research Concept Vehicle

Robotics Toolbox Matlab ⭐ 962

Robotics Toolbox for MATLAB

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

Crocoddyl ⭐ 624

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

Optimal Reciprocal Collision Avoidance (C++)

Motion Generation for Robots and Machines. Real-time. Jerk-constrained. Time-optimal.

Rvo2 Cs ⭐ 541

Optimal Reciprocal Collision Avoidance (C#)

robotic motion planning library

Pybullet Planning ⭐ 352

PyBullet Planning

Webots_ros2 ⭐ 341

Webots ROS 2 packages

Airsim Neurips2019 Drone Racing ⭐ 286

Drone Racing @ NeurIPS 2019, built on Microsoft AirSim

Pddlstream ⭐ 273

PDDLStream: Integrating Symbolic Planners and Blackbox Samplers

Cleanit ⭐ 246

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

Dojo.jl ⭐ 237

A differentiable physics engine for robotics

Tesseract ⭐ 232

Motion Planning Environment

Diffusion Literature For Robotics ⭐ 225

Summary of key papers and blogs about diffusion models to learn about the topic. Detailed list of all published diffusion robotics papers.

Gaussian Process Motion Planner 2

Robotoc ⭐ 223

Efficient optimal control solvers for robotic systems.

Free_gait ⭐ 223

An Architecture for the Versatile Control of Legged Robots

Visualization of Motions for Legged Robots in ros-rviz

Rvo2 3d ⭐ 211

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

Artificial Intelligence for Kinematics, Dynamics, and Optimization

Scptoolbox.jl ⭐ 172

Sequential Convex Programming Toolbox for nonconvex trajectory optimization.

Am_traj ⭐ 153

Alternating Minimization Based Trajectory Generation for Quadrotor Aggressive Flight

Fiss_planner ⭐ 140

[RA-L 2022] FISS: A Trajectory Planning Framework using Fast Iterative Search and Sampling Strategy for Autonomous Driving

Omplapp ⭐ 132

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

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.

The Hybrid Reciprocal Velocity Obstacle (C++)

Voxposer ⭐ 103

VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models

Motion Planners ⭐ 90

Python implementations of several robotic motion planners

Some records and notes of weekly arXiv papers, GRASP seminars, and resources

adam implements a collection of algorithms for calculating rigid-body dynamics in Jax, CasADi, PyTorch, and Numpy.

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! :)

Omg Planner ⭐ 68

An Optimization-based Motion and Grasp Planner

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

a Lightweight Motion Planning Package

Frenet_optimal_planner ⭐ 56

Implementation of the Frenet Optimal Planning Algorithm (with modifications) in ROS.

Dynamicwindowapproach ⭐ 55

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

Rrt_toolbox ⭐ 53

RRT, RRT*, RRT*FN algorithms for MATLAB

Ikfastpy ⭐ 52

Python wrapper over OpenRave's IKFast inverse kinematics solver for a UR5 robot arm.

Contactimplicitmpc.jl ⭐ 52

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

Costar_plan ⭐ 49

Integrating learning and task planning for robots with Keras, including simulation, real robot, and multiple dataset support.

Bench Mr ⭐ 47

Motion Planning Benchmark

Mppi_numba ⭐ 43

A GPU implementation of Model Predictive Path Integral (MPPI) control that uses a probabilistic traversability model for planning risk-aware trajectories.

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

Rvo2 Java ⭐ 40

Optimal Reciprocal Collision Avoidance (Java)

Trajectory Optimization for Robot Arms

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.

Ss Replan ⭐ 37

Online Replanning in Belief Space for Partially Observable Task and Motion Problems

Localplannerbench ⭐ 36

Local Planner Bench

Motion_planning ⭐ 31

Iterativelqr.jl ⭐ 30

A Julia package for constrained iterative LQR (iLQR)

Dorna Robotics API

Motion planning environment for Sampling-based Planners

Fiss_plus_planner ⭐ 27

[IROS 2023] FISS+: Efficient and Focused Trajectory Generation and Refinement using Fast Iterative Search and Sampling Strategy

Truewalksimulator ⭐ 24

TrueWalk is a motion planning and gait generation system for controlling virtual and real-world multi-legged robots. This repository is for the Unity simulator version, that can also control tethered robots over serial.

Clf_reactive_planning_system ⭐ 23

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

Ue4_towr ⭐ 21

Visualize Legged Robot Trajectories with Unreal Engine

Dexvt Lite ⭐ 21

3D Inverse Kinematics with Constraints and... GPU Ray Tracing!

Dg Commons ⭐ 20

Driving games common tools

Planning On Vkc ⭐ 19

Code for IROS 2021 paper: Consolidating Kinematic Models to Promote Coordinated Mobile Manipulations.

The SDK for the KUKA Robot Learning Lab at KIT

Python robot's tamp library

Stlplanning ⭐ 16

Path planning from STL (Signal Temporal Logic) specifications

Python Package for Robot Navigation

Robotics Computational Motion Planning ⭐ 14

Robotics: Computational Motion Planning delivered by University of Pennsylvania. Major topic is path planning.

Armour Dev ⭐ 13

Can’t Touch This: Real-Time, Safe Motion Planning and Control for Manipulators Under Uncertainty

Learn To Calibrate ⭐ 13

We utilize deep reinforcement learning to obtain favorable trajectories for visual-inertial system calibration.

Robotics_computational Motion Planning ⭐ 12

This repository contains notes and assignment for the University of Pennsylvania/Coursera in the Robotics Specialization: Computational Motion Planning. If you are student in this course, please do not plagiarize this work as it violates the Honor Code.

Dynoplan ⭐ 12

Rapid Transport ⭐ 11

Self-driving truck

Programming For Robots And Manipulators Vrm ⭐ 11

The VRM (Programming for Robots and Manipulators) course enables students to acquire skills and knowledge in programming industrial / mobile robots and manipulators.

A pythonic motion planning library

Hospitalbot Path Planning ⭐ 10

This repository contains an application using ROS2 Humble, Gazebo, OpenAI Gym and Stable Baselines3 to train reinforcement learning agents for a path planning problem.

Motion_planning_of_robots ⭐ 10

This repository implements various Search Based (Heuristic and Incremental) and Sampling Based (Multi Query and Single Query) motion planning algorithms using ROS and turtlebot

Wheeled_robot_navigation ⭐ 9

A package for realtime wheeled robot motion planning and collision-free control

Gsplines_cpp ⭐ 8

Generalized Splines for Motion Optimization in C++ and python3

Implementation of the paper "Human-like Planning for Reaching in Cluttered Environments" (ICRA 2020)

EE6221 Robotics & Intelligent Sensors

Prm_planner ⭐ 8

The probabilistic roadmap (PRM) planner uses a graph of task poses to find a path between the start and goal poses.

Ur5legovision ⭐ 7

Vision-Based Lego Detection, Localization, and Assembly Using UR5 Robot Arm

Awesome Robotics ⭐ 7

Robotics Learning Note

Predictive Multi Agent Framework ⭐ 6

Repository for predictive dual-arm reactive motion planning

Velocity Obstacle And Motion Planning ⭐ 6

A Collision Avoidance and Path Planning Framework implemented for a dual arm Pick and Place robot task simulation. Velocity Obstacles and RRTStar Motion Planner are used in the algorithm to plan dynamic collisionless trajectories.

Grid_planning ⭐ 5

Integrated task and motion planning using grounded actions learned from observing expert demonstrations.

Software and firmware stacks for the PropBot autonomous robot

Navigation Function package (some features need overhaul)

Irvingheroboticsrepo ⭐ 5

RoboticsRepoForMyself

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