Python implementation of MPPI (Model Predictive Path-Integral) controller to understand the basic idea. Mandatory dependencies are numpy and matplotlib only.

• UpdatedFeb 6, 2025
• Jupyter Notebook

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

• UpdatedAug 23, 2024
• Jupyter Notebook

[ICRA2024] Stein Variational Guided Model Predictive Path Integral Control: Proposal and Experiments with Fast Maneuvering Vehicles

• UpdatedJul 8, 2025
• C++

Adaptive importance sampling modification to MPPI

• UpdatedApr 1, 2024
• Julia

cuTAMP: Differentiable GPU-Parallelized Task and Motion Planning

• UpdatedJul 27, 2025
• Python

A topology aware sampling-based global planner for dynamic 2D environments

• UpdatedJan 9, 2025
• C++

A ROS package of a autonomous navigation method based on SAC and Bidirectional RRT* (Repository RL-RRT-Global-Planner).

• UpdatedSep 26, 2022
• Python

Sampling based Model Predictive Control package for Model-Based RL research

• UpdatedOct 20, 2020
• Python

off-road navigation simulator for benchmarking planning algorithms

• UpdatedJun 15, 2024
• Python

Adaptive control for skid-steer robots using GP-enhanced MPPI for robust navigation and obstacle avoidance on diverse terrains.

• UpdatedOct 27, 2025
• Python

CTRMs: Learning to Construct Cooperative Timed Roadmaps for Multi-agent Path Planning in Continuous Spaces (AAMAS-22)

• UpdatedJan 5, 2023
• Python

A ROS package of a path-planning method based on Bidirectional RRT*, which use the intermidiate points as the global information instead of the full path.

• UpdatedSep 15, 2022
• C++

The OpenMORE project offers the essential tools for rapid robot path replanning during trajectory execution. It provides a robust architecture that manages both the replanning process and the execution of the trajectory. It also includes a library of sampling-based path replanning algorithms to efficiently handle dynamic changes in the environment.

• UpdatedOct 10, 2025
• Shell

A 2D simulation in Pygame of the paper "Randomized Kinodynamic Planning" by Steven M. LaValle, and James J. Kuffner, Jr.

• UpdatedApr 18, 2023
• Python

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

• UpdatedMay 28, 2023
• Python

Constrained Motion Planning Method with Latent Jumps

• UpdatedJan 20, 2024
• Python

Time-Aware Probabilistic Roadmaps (TA-PRM*)

• UpdatedJan 3, 2025
• Python

Implementations with interactive visualizations of multiple motion planning algorithms.

• UpdatedJan 20, 2021
• Python

A 2D simulation in Pygame of the paper "Probabilistic roadmaps for path planning in high-dimensional configuration spaces" by L.E. Kavraki, P. Svestka, J.-C. Latombe, and M.H. Overmars.

• UpdatedAug 9, 2023
• Python

A 2D simulation in Pygame of the paper "Rapidly-exploring random trees: A new tool for path planning" by Steven M. LaValle.

• UpdatedSep 10, 2022
• Python